Posing Multibody Dynamics with Friction and Contact as a Differential Complementarity Problem
نویسندگان
چکیده
We use a complementarity approach to pose the Coulomb friction model, combine it with a non-penetration condition, and append to a differential algebraic problem to characterize the dynamics of multibody systems with friction and contact. The resulting problem is relaxed to a Cone Complementarity Problem, whose solution is shown to represent the first order optimality condition of a quadratic program with conic constraints.
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