Formulating Dynamic Multi-rigid-body Contact Problems with Friction as Solvable Linear Complementarity Problems
نویسندگان
چکیده
A linear complementarity formulation for dynamic multi-rigid-body contact problems with Coulomb friction is presented. The formulation, based on explicit Euler integration and polygonal approximation of the friction cone, is guaranteed to have a solution for any number of contacts and contact con guration. A model with the same property is formulated for impact problems with friction and nonzero elasticity coe cient. An explicit Euler scheme based on these formulations is presented and is proved to have uniformly bounded velocities as the stepsize tends to zero for the Newton-Euler formulation in body coordinates.
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