Dealing with the ill-conditioned equations of motion for articulated figures
Dealing with the ill-conditioned equations of motion for articulated figures
复制标题
处理铰接图形的病态运动方程
DOI：
10.1109/38.55154
复制
发表时间：
1990
影响因子：
1.8
通讯作者：
A. A. Maciejewski
中科院分区：
文献类型：
--
作者：
A. A. Maciejewski
铰接图形的真实运动模拟依赖于线性方程组的求解。有时，这些方程的解存在很大的数值困难，导致图形出现不切实际或虚假的运动，或者由于积分间隔较小而导致计算过多。困难的原因被证明与图形的物理结构有关，而不是数学公式。它展示了如何确定病态的严重程度以及如何在不进行过多计算的情况下获得物理上有意义的解决方案，即使在处理极其病态的配置时也是如此。<<ETX>>
Realistic motion simulation for articulated figures has relied on the solution of linear systems of equations. Sometimes the solution of these equations presents a great deal of numerical difficulty, resulting in unrealistic or spurious motion for the figure or in excessive computation because of small integration intervals. The cause of the difficulty is shown to be related to the physical structure of the figure, not the mathematical formulation. It is shown how to determine the severity of ill conditioning and how to obtain physically meaningful solutions without excessive computations, even when dealing with extremely ill-conditioned configurations.<<ETX>>