EQUATION OF MOTION DERIVATION DEVICE OF RIGID MANY BODY SYSTEM AND EQUATION OF MOTION DERIVATION METHOD OF RIGID MANY BODY SYSTEM

摘要

PROBLEM TO BE SOLVED: To obtain an equation of motion derivation device of a rigid many body system capable of reducing a calculation amount required for deriving an equation of motion and a description quantity of the derived equation of motion.;SOLUTION: The equation of motion derivation device of a rigid many body system includes: a rigid many body system configuration definition part (11) for inputting a model configuration of the mechanical system in which a connection configuration of each rigid body modeled as a rigid many-body system becomes an open loop configuration; a rigid body connection configuration derivation part (12) for deriving the connection configuration of each rigid body; a transformation matrix derivation part (13) for deriving a transformation matrix in the rigid body connection part; an inertia force and inertia torque derivation part (14) for deriving a center of mass velocity, an angular velocity, an inertia force, and an inertia torque around a center of mass of each rigid body; a generalization force derivation part (15) for deriving the generalization force of each rigid body; a partial velocity and partial angular velocity derivation part (16) for deriving the partial velocity and partial angular velocity of each rigid body; and a generalization inertia force derivation part (17) for deriving the generalization inertia force and the equation of motion of each rigid body.;COPYRIGHT: (C)2014,JPO&INPIT