抄録
The Assembly-Disassembly Algorithm (ADA) is known for its computational efficiency. We propose a way of extending ADA to further improve the efficiency. This is achieved via symbolic-numeric hybrid modeling. We prepare the symbolic equations of motion of specific subchains using the Lagrange formulation. The equations are then integrated into the numerical computation procedures of ADA. Finally, we compare the computation time of our hybrid modeling approach with that of ADA.
