METHOD FOR SIMULATING DISPLACEMENT OF OBJECT, DEVICE FOR SIMULATING DISPLACEMENT OF OBJECT, AND INNER FORCE SENSE PRESENTATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a method for simulating displacement of an object, capable of performing, when operation such as holding is performed to an object which lacks a constraining condition in space, calculation of deformation of the object using finite element method in a short time.;SOLUTION: Deformation caused in an object B is analyzed based on a entire rigidity equation for a finite element model and simulated. At this time, displacements related to all nodes of the finite element model in the entire rigidity equation are classified to unknown displacement of free nodes, known displacement related to one constraint face extracted from contact faces contacting with a fingertip US and known displacement related to the remaining contact faces other than the constraint face and convertible by an equivalent load, and the inverse matrix of a rigidity matrix calculated from the entire rigidity equation of the finite element model is preliminarily deformed so that Woodbury's formula is applicable. The known displacement is calculated based on the Woodbury's formula.;COPYRIGHT: (C)2007,JPO&INPIT