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DYNAMICS SIMULATION DEVICE, DYNAMICS SIMULATION METHOD, AND COMPUTER PROGRAM
DYNAMICS SIMULATION DEVICE, DYNAMICS SIMULATION METHOD, AND COMPUTER PROGRAM
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机译：动力学仿真装置，动力学仿真方法和计算机程序
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摘要
A dynamics simulation device for dynamically simulating physical interactions acting on a plurality of objects under an environment where the objects coexist is disclosed. The device includes: nominal value providing means for providing a nominal value Λn of an operational space inertial matrix; nominal inertial force calculating means for calculating a nominal inertial force acting on the operational space by the use of the nominal value Λn of the operational space inertial matrix and a target acceleration value of the physical quantity x; a disturbance observer estimating forces other than the nominal inertial force acting on the operational space as a disturbance; and means for calculating the force f acting on the physical quantity on the basis of the nominal inertial force and the estimated disturbance fd.
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机译：公开了一种动态模拟装置，该动态模拟装置用于在对象共存的环境下动态地模拟作用于多个对象的物理相互作用。该装置包括：标称值提供装置，用于提供操作空间惯性矩阵的标称值Λ n 。标称惯性力计算装置，用于通过使用操作空间惯性矩阵的标称值Λ n 和物理量x的目标加速度值来计算作用在操作空间上的标称惯性力。干扰观察者估算作用在工作空间上的名义惯性力以外的力作为干扰;用于根据名义惯性力和估计的扰动f d 来计算作用在物理量上的力f的装置。
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