Constraint Stabilization for Time-stepping Approaches for Rigid Multibody Dynamics with Joints, Contact, and Friction
نویسندگان
چکیده
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 ∈ (0,1]. Several examples are used to demonstrate the constraint stabilization effect.
منابع مشابه
A 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...
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