A fixed-point iteration approach for multibody dynamics with contact and small friction

Abstract

Acceleration–force setups for multi-rigid-body dynamics are known to be inconsistent for some configurations and sufficiently large friction coefficients (a Painleve paradox). This difficulty is circumvented by time-stepping methods using impulse-velocity approaches, which solve complementarity problems with possibly nonconvex solution sets. We show that… (More)
DOI: 10.1007/s10107-004-0535-6

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Cite this paper

@article{Anitescu2004AFI, title={A fixed-point iteration approach for multibody dynamics with contact and small friction}, author={Mihai Anitescu and Gary D. Hart}, journal={Math. Program.}, year={2004}, volume={101}, pages={3-32} }