Issues in computing contact forces for non-penetrating rigid bodies

DOI10.1007/BF01891843zbMATH Open0777.70006OpenAlexW2170429598MaRDI QIDQ686750FDOQ686750

Authors: David Baraff 

Publication date: 13 October 1993

Published in: Algorithmica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf01891843

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zbMATH Keywords

optimizationconfiguration spaceroboticsCoulomb frictionlarge numbers of contact points

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Contact in solid mechanics (74M15) Theories of friction (tribology) (74A55) Dynamics of a system of particles, including celestial mechanics (70F99)

Cites Work

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• Bimatrix Equilibrium Points and Mathematical Programming
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• Spatial Planning: A Configuration Space Approach
• Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics
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Cited In (29)

• A scalable computational platform for particulate Stokes suspensions
• A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics
• A formulation of the linear discrete Coulomb friction problem via convex optimization
• The material-point method for granular materials
• A contact force solution for non-colliding contact dynamics simulation
• Dynamic investigation on floating raft with elastic limiters
• Efficient methodology for multibody simulations with discontinuous changes in system definition
• Using Krylov subspace and spectral methods for solving complementarity problems in many-body contact dynamics simulation
• Modeling and algorithm on a class of mechanical systems with unilateral constraints
• The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem
• Efficient contact mode enumeration in 3D
• Particle-scale computational approaches to model dry and saturated granular flows of non-Brownian, non-cohesive, and non-spherical rigid bodies
• Collapse
• An iterative approach for cone complementarity problems for nonsmooth dynamics
• Title not available (Why is that?)
• Title not available (Why is that?)
• Non-jamming conditions in multi-contact rigid-body dynamics
• Title not available (Why is that?)
• Title not available (Why is that?)
• Dynamic multi-rigid-body systems with concurrent distributed contacts
• Simulation of motion of a collection of rigid bodies, taking into account their collisions and joints
• A Non‐smooth Newton Method for Multibody Dynamics
• Optimization-based simulation of nonsmooth rigid multibody dynamics
• Hybrid complementarity formulations for robotics applications
• Complementarity formulations and existence of solutions of dynamic multi-rigid-body contact problems with Coulomb friction
• A barrier method for contact avoiding particles in Stokes flow
• A unified approach to discrete frictional contact problems
• Constrained rigid body stability and control
• Idem: an impulse-based discrete element method for fast granular dynamics

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