Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F07%3A02135804" target="_blank" >RIV/68407700:21220/07:02135804 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space
Original language description
The paper describes the multibody formalism based on natural coordinates and modified state space that is suitable for real-time applications. The complex multibody systems include closed loops and thus result into DAE equations. Their simulation then usually requires iterative stabilization. The described multibody formalism has two important properties making it suitable for real-time applications. Firstly, it provides the stable solution of DAE equations for multibody systems with kinematical loops without necessity of iterations. Secondly, it consists of system matrices with simple expressions (constant, linear or quadratic terms) for their elements and thus it is very suitable for massive parallelization. The resulting computational complexity isgrowing only linearly with the number of DOFs despite any occurrence of kinematical loops and it is about 5 times smaller than the recursive multibody formalisms.
Czech name
Formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru.
Czech description
Článek se zabývá formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru.
Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2007
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Multibody System Dynamics
ISSN
1384-5640
e-ISSN
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Volume of the periodical
17
Issue of the periodical within the volume
2-3
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
19
Pages from-to
209-227
UT code for WoS article
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EID of the result in the Scopus database
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