engleski

Dynamic Simulation of 3D Human Movement - Multibody Techniques and Integration Methods

In this paper several algorithms for dynamic simulation of constrained multibody systems, with the purpose of designing accurate numerical procedure for dynamic simulation of complex 3D human body gross movement, have been analysed and compared. Mathematical models are shaped in the full descriptor and partially reduced form, using Newton-Euler approach and Kane's formulation. Different algorithms for solving differential-algebraic equations are applied and evaluated. Based on the results of performed analysis, where simulation results are compared with measured kinematic data of the analysed movement, a stable simulation algorithm for demanding tree-structured multibody systems have been proposed.

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