Optimization-based simulation of nonsmooth rigid multibody dynamics

• 成果类型: Article
• 署名作者: Anitescu, M
• 署名单位: United States Department of Energy (DOE); Argonne National Laboratory
• 刊物名称: MATHEMATICAL PROGRAMMING
• ISSN/ISSBN: 0025-5610
• DOI: 10.1007/s10107-005-0590-7
• 发表日期: 2006
• 页码: 113-143
• 关键词: body contact problems; friction; joints

摘要

We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with fixed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure differential inclusion. We present numerical results for a few examples, and we illustrate the difference between the results from our scheme and previous, linear-complementarity-based time-stepping schemes.