DYNAMICS SIMULATION DEVICE, DYNAMICS SIMULATION METHOD, AND COMPUTER PROGRAM

摘要

PPROBLEM TO BE SOLVED: To calculate contact force or collision force acting between rigid bodies that come into contact or collide with each other with high accuracy and at low calculation cost in rigid body dynamics simulation. PSOLUTION: Nominal inertia force acting in an operational space is calculated from a nominal value SBn/SBof an operational space inertia matrix and an acceleration target value of physical quantity x, and meanwhile, a disturbance observer estimates action force other than the nominal inertia force as disturbance fSBd/SBand calculates force f acting to the physical quantity on the basis of the nominal inertia force and the estimated disturbance fSBd/SB. As a setting method of a nominal operational space inertia matrix SBn/SB, its non-diagonal element is defined as zero, and a theoretical value is calculated only in a diagonal element. PCOPYRIGHT: (C)2009,JPO&INPIT