Frictional Rigid Body Dynamics
نویسندگان
چکیده
Practical problems like regulating robot grippers critically rely on accurately predicted friction forces. Qualified methods are derived and discussed subsequently. Special attention is paid to the question of solution existence. A time-stepping scheme which supports Coulomb friction and inelastic impacts is implemented and the numerical results are analyzed. The approach proofs to be stable, accurate and versatile enough to be applicable to a broad range of simulation problems.
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