A Non-smooth Newton Method for Multibody Dynamics

Journal Article · Mon Sep 01 00:00:00 EDT 2008 · AIP Conference Proceedings

DOI:https://doi.org/10.1063/1.2990885· OSTI ID:21251328

Erleben, K ^[1]; Ortiz, R ^[2]

---

1. University of Copenhagen (Denmark)
2. Tulane University (United States)

In this paper we deal with the simulation of rigid bodies. Rigid body dynamics have become very important for simulating rigid body motion in interactive applications, such as computer games or virtual reality. We present a novel way of computing contact forces using a Newton method. The contact problem is reformulated as a system of non-linear and non-smooth equations, and we solve this system using a non-smooth version of Newton's method. One of the main contribution of this paper is the reformulation of the complementarity problems, used to model impacts, as a system of equations that can be solved using traditional methods.

• OSTI ID: 21251328
• Journal Information: AIP Conference Proceedings, Vol. 1048, Issue 1; Conference: International conference on numerical analysis and applied mathematics 2008, Psalidi, Kos (Greece), 16-20 Sep 2008; Other Information: DOI: 10.1063/1.2990885; (c) 2008 American Institute of Physics; Country of input: International Atomic Energy Agency (IAEA); ISSN 0094-243X
• Country of Publication: United States
• Language: English

Related Subjects

71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
ALGEBRA
DIRAC EQUATION
FUNCTIONAL ANALYSIS
MANY-BODY PROBLEM
MATRICES
NEWTON METHOD
NONLINEAR PROBLEMS