二次元鎖状剛体の運動の定式化について

抄録

This paper presents new formulation of equations of motion for chained rigid bodies. In this method, components of matrix or vector of equations of motion are calculated recursively. This reduces much effort for calculation of motion of chained rigid bodies. Calculation can be done effectively and quickly. Moreover, this new formulation does not require much memory even if chained rigid bodies system has many bodies. Computer simulations are given to demonstrate the effectiveness of this formulation.