Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

DOI10.1007/S11044-013-9392-5zbMATH Open1351.70014OpenAlexW2031506309MaRDI QIDQ487547FDOQ487547

Authors: B. Brogliato 

Publication date: 22 January 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://hal.inria.fr/hal-01088288/file/BBKQ.pdf

Recommendations

• Constrained Lagrangian dynamics based on reduced quasi-velocities and quasi-forces
• On the simultaneous presence of unilateral and kinetic constraints in time-dependent impulsive mechanics
• Dynamics and impact in a system with unilateral constraints. The relevance of dry friction
• On the use of quasi-velocities in impulsive motion
• Dynamics of Multibody Systems Containing Dependent Unilateral Constraints with Friction
• On frictionless impact models in rigid-body systems
• On the Determination of the Solutions for the Kinetic State of Single-Freedom Multi-Body Systems with Friction
• Quasivelocities and symmetries in non-holonomic systems
• Finite-dimensional frictional contact quasi-static rate and evolution problems revisited

zbMATH Keywords

Coulomb frictionunilateral constraintscomplementarity conditions[https://portal.mardi4nfdi.de/w/index.php?title=+Special%3ASearch&search=Painlev%EF%BF%BD%EF%BF%BD+paradox&go=Go Painlev�� paradox]bilateral holonomic constraintskinematic impact lawkinetic angleskinetic metricMoreau's impact lawquasi-Lagrange dynamicsquasi-velocitiestangential restitution

Mathematics Subject Classification ID

Lagrange's equations (70H03) Problems involving a system of particles with friction (70F40) Holonomic systems related to the dynamics of a system of particles (70F20) Collision of rigid or pseudo-rigid bodies (70F35)

Cites Work

• Variational Analysis
• Title not available (Why is that?)
• Convex Analysis
• Nonsmooth mechanics. Models, dynamics and control.
• A geometric unification of constrained system dynamics
• Nonsmooth impact mechanics. Models, dynamics and control
• Numerical methods for nonsmooth dynamical systems. Applications in mechanics and electronics
• Absolute stability and the Lagrange--Dirichlet theorem with monotone multivalued mappings
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Perturbation Bounds of P-Matrix Linear Complementarity Problems
• Title not available (Why is that?)
• Dissipative systems analysis and control. Theory and applications
• Title not available (Why is that?)
• The Linear Complementarity Problem
• Title not available (Why is that?)
• A variational approach to copositive matrices
• Title not available (Why is that?)
• Title not available (Why is that?)
• On First-Order Decoupling of Equations of Motion for Constrained Dynamical Systems
• On the Derivation of Equations of Motion
• Simple mechanical control systems with constraints
• Feedback stabilization and tracking of constrained robots
• Mass-orthogonal formulation of equations of motion for multibody systems
• Right-hand solutions of the differential equations of dynamics for mechanical systems with sliding friction
• The dynamics of discrete mechanical systems with perfect unilateral constraints
• Periodic motion and bifurcations induced by the Painlevé paradox
• Complementarity formulations and existence of solutions of dynamic multi-rigid-body contact problems with Coulomb friction
• New results on Painlevé paradoxes
• A convergence result for a vibro-impact problem with a general inertia operator
• Stability and convergence of mechanical systems with unilateral constraints
• The discrete null-space method for the energy-consistent integration of constrained mechanical systems. I: Holonomic constraints
• Title not available (Why is that?)
• Energetic consistency conditions for standard impacts. I: Newton-type inequality impact laws and Kane's example
• Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems
• Title not available (Why is that?)
• On the control of finite-dimensional mechanical systems with unilateral constraints
• Title not available (Why is that?)
• Title not available (Why is that?)
• A unified variational model for the dynamics of perfect unilateral constraints
• Oblique frictional impact of a bar: analysis and comparison of different impact laws
• Title not available (Why is that?)
• An introduction to impacts
• On Dynamic Multi‐Rigid‐Body Contact Problems with Coulomb Friction
• Energetically consistent simulation of simultaneous impacts and contacts in multibody systems with friction
• On the approximation of the elastic bounce problem on Riemannian manifolds
• CONTINUOUS DEPENDENCE ON DATA FOR VIBRO-IMPACT PROBLEMS
• A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators
• Collision of three balls on a plane
• Impacts in multibody systems: modeling and experiments
• Impacts in a system with certain unilateral couplings
• On multiple impact
• Rigid bodies collisions
• A geometrical interpretation and uniform matrix formulation of multibody system dynamics
• An Efficient Newton-Type Iteration for the Numerical Solution of Highly Oscillatory Constrained Multibody Dynamic Systems
• Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems
• Passive Decomposition of Mechanical Systems With Coordination Requirement
• An Indeterminate Problem in Classical Mechanics
• Treatment of impact with friction in planar multibody mechanical systems.
• Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls
• The equations of motion of a system under the action of the impulsive constraints
• Another form of equations of motion for constrained multibody systems
• Finite and impulsive motion of constrained mechanical systems via Jourdain's principle: discrete and hybrid parameter models

Cited In (13)

• Constrained Lagrangian dynamics based on reduced quasi-velocities and quasi-forces
• Modeling three-dimensional surface-to-surface rigid contact and impact
• Analysis of the implicit Euler time-discretization of passive linear descriptor complementarity systems
• Modeling and analysis of multiple impacts in multibody systems under unilateral and bilateral constrains based on linear projection operators
• Quantization of motion with friction quadratic in velocity
• A general formulation for the contact between superellipsoid surfaces and nodal points
• The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem
• Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
• Contact constraints and dynamical equations in Lagrangian systems
• The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb's friction: a tutorial
• Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems
• Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems
• Trajectory tracking in linear complementarity systems with and without state jumps: a passivity approach

This page was built for publication: Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q487547)