A linearly implicit trapezoidal method for integrating stiff multibody dynamics with contact, joints, and friction

@inproceedings{Potra2006ALI,
  title={A linearly implicit trapezoidal method for integrating stiff multibody dynamics with contact, joints, and friction},
  author={Florian A. Potra and Mihai Anitescu and Bogdan I. Gavrea and Jeffrey C. Trinkle},
  year={2006}
}
We present a hard constraint, linear complementarity based, method for the simulation of stiff multibody dynamics with contact, joints and friction. The approach uses a linearization of the modified trapezoidal method, incorporates a Poisson restitution model at collision, and solves only one linear complementarity problem per time step when no collisions are encountered. We prove that, under certain assumptions, the method has order two, a fact that is also demonstrated by our numerical… CONTINUE READING
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