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An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact

Summary: An Implicit Time-Stepping Method for Multibody
Systems with Intermittent Contact
Nilanjan Chakraborty, Stephen Berard, Srinivas Akella and Jeff Trinkle
Department of Computer Science
Rensselaer Polytechnic Institute
Troy, New York 12180
Email: {chakrn2, sberard, sakella, trink}@cs.rpi.edu
Abstract-- In this paper we present an implicit time-stepping
scheme for multibody systems with intermittent contact by
incorporating the contact constraints as a set of complementarity
and algebraic equations within the dynamics model. Two primary
sources of stability and accuracy problems in prior time stepping
schemes for differential complementarity models of multibody
systems are the use of polyhedral representations of smooth
bodies and the approximation of the distance function (arising
from the decoupling of collision detection from the solution of the
dynamic time-stepping subproblem). Even the simple example of
a disc rolling on a table without slip encounters these problems.
We assume each object to be a convex object described by
an intersection of convex inequalities. We write the contact


Source: Akella, Srinivas - Department of Computer Science, University of North Carolina, Charlotte
Salama, Khaled - Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute


Collections: Computer Technologies and Information Sciences; Engineering