record.m

用于计算多体系统动力学的程序,可用于多体系统动力学的计算和仿镇,也可用于机器人的设计和计算

多体程序记录
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关键变量如下
body    joint   
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名称改变如下
ff          =       MotionStation
fun         =       FormAcceEquations
gadams      =       AdamsDiffEquation
rgkt        =       AStepRGKTResolve
yundong     =       ResolveMotion
yy          =       InitVelocity
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进入ResolveSysmtemKit后的流程
    ...
    InitVelocity                                √
    ...
    AdamsDiffEquation
        ...
        MotionStation                            √
        ...
        FormAcceEquations                        √
            ...
            ResolveMotion   *in total bz!       √
            ...
        ...
        2:4 
        ...
        AStepRGKTResolve 
            ...
            >toleps    
            MotionStation                        √
            ...
            FormAcceEquations                    √ d1 is wrong
                ...
                ResolveMotion                   √
                ...
            ...                                 
            MotionStation                        ?
			FormAcceEquations
                ...
                ResolveMotion    
                ...
            ...
            MotionStation    
        ...
   		MotionStation;
		FormAcceEquations
            ...
            ResolveMotion    
            ...  
        5:nn
        ...
       	MotionStation
    	FormAcceEquations
            ...
            ResolveMotion    
            ...        
        ...
       	MotionStation
    	FormAcceEquations
            ...
            ResolveMotion    
            ...       
    'ending...'    
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