129 Real-Time Analysis of Multibody Dynamics with Natural Coordinates

Abstract

This paper describes the evaluation of real −time perfbrmance and computation time of the multibody dynamic analysis with natural coordinates ． The real − time perfbrmance was eva 監 uated with the model of multiple pendulums ． The multibody dynamic ana ］ ysis with natural coordinates were cornpared with reference point coordinates in computation time and real −tirne perfbrmance ． Calculation result shows that the computation time of multibody dynam 正 c analysis with natural coordinates were faster than that of the reference point coordinates on the multiple pendulums ， and the real −time perfbrma 皿 ce ofnatura 正 coordinates is more effective than that ofr ¢ ference point coordi ロ ates ，