Rigid-Body Dynamics with Friction and Impact
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...
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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...
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The purpose of this paper is to study the modeling method for nonholonomic systems with friction by linear complementary problem (LCP). Firstly, the dynamic equation with multipliers for the nonholonomic system with friction is given. Secondly, a standard linear complementary model is established, which describes the normal and tangential characteristics for a nonholonomic system. Thirdly, by u...
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ژورنال
عنوان ژورنال: SIAM Review
سال: 2000
ISSN: 0036-1445,1095-7200
DOI: 10.1137/s0036144599360110