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

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

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

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)

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Cited In (12)

• 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
• 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

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