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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