An iterative fixed-point method for solving large complementarity problems in multibody systems
نویسنده
چکیده
Aiming at a fast and robust simulation of large multibody systems with contacts and friction, this work presents a novel solution method which can solve large complementarity problems by means of a fixed-point iteration. When thousands of unilateral constraints are added to the system, our method performs like a Banach contractive mapping, providing a fast monotonic approximation to the exact LCP solution.
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