In this paper a procedure for simulating deformable elastic body rigid body interaction is presented. The interaction is described by multiple impacts during the dynamical process. An elastic body modeled as a 3D particles system is proposed, in response to the dynamic impacting force. The contact between particles is modeled with elastic springs. The expression for the spring elastic constants...

This paper treats the geometric formulation of optimal control problems for rigid bodies and it presents computational procedures based on this geometric formulation that can be used for numerical solution of these optimal control problems. The dynamics of each rigid body is viewed as evolving on a configuration manifold that is a Lie group. Discrete time dynamics of each rigid body are develop...

This thesis attempts to present a uni ed view of the subject of rigid body collisions This includes discussion of basic assumptions fundamental and reasonable constraints on collision laws a survey of commonly used laws some new collision laws a brief discussion of non rigid body collisions in the context of rigid body collisions and some new experimental data interpreted in the context of the ...

We distinguish between, and discuss the applicability of, two levels of rigidity in rigid-body collision modeling. For rigidity in the strong, force-response, sense collisional contact deformations must be highly localized. The bodies then move according to second order rigid-body mechanics during the collision. Incremental collision laws and most collision models using continuum mechanics for ...

In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on initial conditions is explicit and the equations governing the orientation of the body involve only real numbers. Based on these results, an efficient method...