A matrix-free cone complementarity approach for solving large-scale , nonsmooth , rigid body dynamics Preprint ANL / MCS-P 1692-1109

@inproceedings{Tasora2010AMC,
  title={A matrix-free cone complementarity approach for solving large-scale , nonsmooth , rigid body dynamics Preprint ANL / MCS-P 1692-1109},
  author={Alessandro Tasora and Mihai Anitescu},
  year={2010}
}
This paper proposes an iterative method that can simulate mechanical systems featuring a large number of contacts and joints between rigid bodies. The numerical method behaves as a contractive mapping that converges to the solution of a cone complementarity problem by means of iterated fixed-point steps with separable projections onto convex manifolds. Since computational speed and robustness are important issues when dealing with a large number of frictional contacts, we have performed special… CONTINUE READING