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Mixed nonlinear complementarity problems via nonlinear optimization: numerical results on multirigidbody contact

Summary: Mixed nonlinear complementarity problems via nonlinear
optimization: numerical results on multi­rigid­body contact
problems with Coulomb friction #
Roberto Andreani + Ana Friedlander # Margarida P. Mello §
Sandra A. Santos ¶
March 24, 2003
In this work we show that the mixed nonlinear complementarity problem may be
formulated as an equivalent nonlinear bound­constrained optimization problem that
preserves the smoothness of the original data. One may thus take advantage of ex­
isting codes for bound­constrained optimization. This approach is implemented and
tested by means of an extensive set of numerical experiments, showing promising re­
sults. The mixed nonlinear complementarity problem considered in the tests arises
from the discretization of a motion planning problem concerning a set of rigid 3D
bodies in contact in the presence of friction. For each time frame one needs to solve a
complementarity problem in order to calculate the accelerations of the bodies involved.
Keywords: complementarity problem; bound­constrained minimization; multi­rigid­
body contact problem; Coulomb friction.
# This research has been supported by PRONEX­Optimization, CNPq, FAPESP and Faep­Unicamp.
+ Institute of Mathematics, Statistics and Scientific Computation, State University of Campinas, CP


Source: Andreani, Roberto - Instituto de Matemática, Estatística e Computação Científica, Universidade Estadual de Campinas


Collections: Mathematics