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Summary: A Hybrid Time-Stepping Scheme for Intermittent
Contact in Multi-Rigid-Body Dynamics
Kishor D. Bhalerao
Kurt S. Anderson
Jeffrey C. Trinkle
Rensselaer Polytechnic Institute, Troy NY 12180
Abstract
This paper describes a novel method for the modeling of intermittent contact in
multi-rigid-body problems. We use a complementarity based time-stepping scheme in
Featherstone's Divide and Conquer framework to efficiently model the unilateral and
bilateral constraints in the system. The time-stepping scheme relies on impulse-based
equations and does not require explicit collision detection. A set of complementarity
conditions is used to model the interpenetration constraint and a linearized friction cone
is used to yield a linear complementarity problem. The Divide and Conquer framework
ensures that the size of the resulting mixed linear complementarity problem is inde-
pendent of the number of bilateral constraints in the system. This makes the proposed
method especially efficient for systems where the number of bilateral constraints are
much greater than the number of unilateral constraints. The method is demonstrated
by applying it to a falling 3D double pendulum.
1 Introduction
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