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Statements

Subject Item
n2:RIV%2F68407700%3A21220%2F07%3A02135804%21RIV08-MSM-21220___
rdf:type
n7:Vysledek skos:Concept
dcterms: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 is growing 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. Článek se zabývá formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru. 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 is growing 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.
dcterms:title
Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space Formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru.
skos:prefLabel
Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space Formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru.
skos:notation
RIV/68407700:21220/07:02135804!RIV08-MSM-21220___
n3:strany
209;227
n3:aktivita
n12:Z
n3:aktivity
Z(MSM6840770003)
n3:cisloPeriodika
2-3
n3:dodaniDat
n5:2008
n3:domaciTvurceVysledku
n9:5864690 n9:4484061 n9:4881451
n3:druhVysledku
n16:J
n3:duvernostUdaju
n10:S
n3:entitaPredkladatele
n18:predkladatel
n3:idSjednocenehoVysledku
435569
n3:idVysledku
RIV/68407700:21220/07:02135804
n3:jazykVysledku
n17:eng
n3:klicovaSlova
multibody formalism in modified state space; natural coordinates; parallelization; rigid bodies
n3:klicoveSlovo
n6:natural%20coordinates n6:parallelization n6:rigid%20bodies n6:multibody%20formalism%20in%20modified%20state%20space
n3:kodStatuVydavatele
NL - Nizozemsko
n3:kontrolniKodProRIV
[7A9CD43B6A19]
n3:nazevZdroje
Multibody System Dynamics
n3:obor
n14:JD
n3:pocetDomacichTvurcuVysledku
3
n3:pocetTvurcuVysledku
3
n3:rokUplatneniVysledku
n5:2007
n3:svazekPeriodika
17
n3:tvurceVysledku
Šika, Zbyněk Vaculín, Ondřej Valášek, Michael
n3:zamer
n11:MSM6840770003
s:issn
1384-5640
s:numberOfPages
19
n15:organizacniJednotka
21220