Collisions of Constrained Rigid Body Systems with Friction
نویسندگان
چکیده
منابع مشابه
Rigid-Body Dynamics with Friction and Impact
Rigid-body dynamics with unilateral contact is a good approximation for a wide range of everyday phenomena, from the operation of car brakes to walking to rock slides. It is also of vital importance for simulating robots, virtual reality, and realistic animation. However, correctly modeling rigid-body dynamics with friction is difficult due to a number of discontinuities in the behavior of rigi...
متن کاملComparison and Coupling of Algorithms for Collisions, Contact and Friction in Rigid Multi-body Simulations
Numerous works in Computational Mechanics are dedicated to the simulation of multi-body systems with contact and friction. The case of dense multi-contact assemblies is one of the more complex one: the problem have often a large number of unknowns and the non uniqueness of solutions is usual. Moreover this problem becomes harder when the Coulomb’s friction or more complex laws are introduced. I...
متن کاملExistence and Uniqueness of Rigid Body Dynamics with Coulomb Friction
For motion planning and veri cation as well as for model based control it is important to have an accurate dynamic system model In many cases friction is a signi cant component of the model When considering the solution of the rigid body forward dynamics problem in systems such as robots we can often appeal to the fundamental theorem of di erential equations to prove the existence and uniquenes...
متن کاملControl of Planar Rigid Body Sliding with Impacts and Friction
In this paper we continue our investigations into robotic air hockey by studying the problem of controlling the trajectory of a puck subject to intermittent impacts. Impacts are modeled using the Routh two-dimensional impact model which incorporates spin and friction. Using this model, we derive an explicit mapping between pre-impact and post-impact velocities of the puck. We will see that this...
متن کاملHybrid Dynamic Simulation of Rigid-Body Contact with Coulomb Friction
This paper introduces a hybrid scheme for simulating rigid bodies in contact. W e use (cm adaptive strategy for handling two different contact situations, 'bouncing' and 'steady'. To handle contact f o r rigid bodies, we use two impulse-based methods to explicitiy or implicitly compute impulses due to collision impact. These two methods are used so that different impulse methods are applied ada...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Shock and Vibration
سال: 1998
ISSN: 1070-9622,1875-9203
DOI: 10.1155/1998/602768