Normal and Friction Stabilization Techniques for Interactive Rigid Body Constraint-based Contact Force Computations
نویسندگان
چکیده
We present a novel, yet simple, method for stabilization of normal forces. A normal stabilization term, carefully designed from hypotheses about interactive usability, is added to the contact force problem. Further, we propose friction stabilization as a completely new stabilization paradigm in interactive simulation. We present a comparison between our normal stabilization method and the Baumgarte stabilization method under extreme interactive conditions. Preliminary results on friction stabilization are presented, showing both the potential advantages of the method and that there is still work to be done.
منابع مشابه
Constraint Stabilization for Time-stepping Approaches for Rigid Multibody Dynamics with Joints, Contact, and Friction
We present a method for achieving geometrical constraint stabilization for a linear-complementarity-based time-stepping scheme for rigid multibody dynamics with joints, contact, and friction. The method requires the solution of only one linear complementarity problem per step. The method depends on an adjustable parameter γ, but the constraint stabilization effect is shown to hold for any γ ∈ (...
متن کاملSpatial Compliant Motion of a Rigid Body Constrained by a Frictional Contact
In this paper, we study the quasi-static motion of an elastically suspended, unilaterally constrained rigid body. The motion of the rigid body is determined, in part, by the position controlled motion of its support base and by the behavior of the elastic suspension that couples the part to the support. The motion is also determined, in part, by contact with a frictional surface that both coupl...
متن کاملA Constraint-Stabilized Time-Stepping Approach for Rigid Multibody Dynamics with Joints, Contact and Friction
We present a method for achieving geometrical constraint stabilization for a linear-complementaritybased time-stepping scheme for rigid multibody dynamics with joints, contact, and friction. The method requires the solution of only one linear complementarity problem per step. We prove that the velocity stays bounded and that the constraint infeasibility is uniformly bounded in terms of the size...
متن کاملA Complementarity Problem Approach for Multibody Contact Dynamics with Regularized Friction
Contact modelling, simulation, and analysis of mechanical systems with friction need proper treatments due to the non-smooth nature of the contact phenomenon. Two main approaches to deal with the contact problems are constraint and compliant based formulations [3]. In constraint based approaches, the problem is formulated by imposing the kinematic unilateral constraints between bodies in contac...
متن کاملPENALTY METHOD FOR UNILATERAL CONTACT PROBLEM WITH COULOMB’S FRICTION FOR LOCKING MATERIAL
In this work, we study a unilateral contact problem with non local friction of Coulombbetween a locking material and a rigid foundation. In the first step , we present the mathematicalmodel for a static process, we establish the variational formulation in the form of a variationalinequality and we prove the existence and uniqueness of the solution. In the second step, usingthe penalty method we...
متن کامل