준역행렬과 투영행렬을 이용한 구속 다물체계의 동역학 해석

DOI QR코드

DOI QR Code

김외조;유완석
Kim, Oe-Jo;Yoo, Wan-Suk

  • 발행 : 1998.01.01

초록

In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.

키워드

영공간;행공간;준역행렬;투영행렬