Dynamische Simulation von gelenkgekoppelten Starrkörpersystemen mit der Impulstechnik

We present a new method for the dynamic simulation of linked
rigid body systems. Forces are systematically substituted by
impulses. In this way we suceed to perform the simulation in a
very direct way and without solving complex systems of
differential equations. The basic principle of the method is a
new iterative procedure to calculate impulses which con-serve
joint constraints. The implementation of the method is
comparably simple and it is very fast and accurat. This is
documented by a first presentation of experimental data and
accuracy estimates. In order to start the simulation,
mechanical models need only minimal preprocessing. The impulse-
based method is also very flexible if new types of joints have
to be introduced. Collision and friction are implemented in a
direct manner. The method is especially well suited for the
new generation of VR systems with correct dynamic and kine-
matic behaviour of VR-worlds. It is also well suited for the
simulation of mechatronic systems since the simulation of
complex models like six-legged walking machines is possible in
real time on a PC.