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