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URN: urn:nbn:de:swb:90-41189

On the convergence and correctness of impulse-based dynamic simulation

Schmitt, Alfred A.; Bender, J.; Prautzsch, H.


Impulse-based dynamic simulation using the iterative method
results in relatively simple algorithms which are easy to
implement. However, two important theoretical questions have so
far still remained open: (1) In what situations does the
iterative procedure converge or diverge, and how can divergence
be avoided? (2) Does the impulse-based simulation converge
towards the exact solution of the dynamics problem as the step
size is reduced? We will completely answer both questions in
this paper. First we simplify the argumentation in that we prove
that for every multibody system there is a dynamically and
kinematically equivalent point mass system. Hence, our results
on point mass systems also apply to multibody simulations. Next
we show how to replace the iterative procedures by solving
systems of linear equations. We prove that the matrices of these
equation systems are non-singular if redundant constraints are
removed from the point mass system in question. We prove further
that the solution generated by the impulse-based procedure
converges towards the exact solution of the dynamics problem as
the step size is reduced towards zero ... mehr

Zugehörige Institution(en) am KIT Institut für Betriebs- und Dialogsysteme (IBDS)
Publikationstyp Forschungsbericht
Jahr 2005
Sprache Englisch
Identifikator ISSN: 1432-7864

KITopen-ID: 1000004118
Verlag Karlsruhe
Serie Interner Bericht. Fakultät für Informatik, Universität Karlsruhe ; 2005,17
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