Splitting Methods for Dry Frictional Contact Problems in Rigid Multibody Systems : Preliminary Performance Results

A splitting method for solving LCP based models of dry frictional contact problems in rigid multibody systems based on box MLCP solver is presented. Since such methods rely on fast and robust box MLCP solvers, several methods are reviewed and their performance is compared both on random problems and on simulation data. We provide data illustrating the… (More)