Hybrid complementarity formulations for robotics applications

DOI10.1002/ZAMM.201000093MaRDI QIDQ3004172zbMATH OpenOpenAlexFDO

Authors Kishor D. Bhalerao, Cory Crean, Kurt S. Anderson

Publication date 31 May 2011

Published in ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/zamm.201000093

zbMATH Keywords

complementarity methodsintermittent contactrecursive dynamics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55)

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• Applications of unilateral multibody dynamics
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• Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems
• Formulation and preparation for numerical evaluation of linear complementarity systems in dynamics
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Cited in

(7)

• A comparative study between the augmented Lagrangian method and the complementarity approach for modeling the contact problem
• Comparing double-step and penalty-based semirecursive formulations for hydraulically actuated multibody systems in a monolithic approach
• Geometrically exact beam equations in the adaptive DCA framework. I: Static example
• Efficient contact mode enumeration in 3D
• An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method
• A mixed nonlinear complementarity technique for solving the dynamics of a dexterous manipulation system
• Modeling intermittent contact for flexible multibody systems

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