Formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru.

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2007

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Multibody System Dynamics

ISSN

1384-5640

e-ISSN

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Svazek periodika

17

Číslo periodika v rámci svazku

2-3

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

19

Strana od-do

209-227

Kód UT WoS článku

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EID výsledku v databázi Scopus

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