An implicit time-stepping scheme for rigid body dynamics with Coulomb friction
- 7 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729) , 162-169
- https://doi.org/10.1109/robot.2000.844054
Abstract
In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, our method is distinct from previous impulsive methods in that it does not require explicit collision checking and it can handle simultaneous impacts. Numerical results are given for one planar and one three dimensional example, which demonstrate the practicality of the method, and its convergence as the step size becomes small.Keywords
This publication has 16 references indexed in Scilit:
- Randomized kinodynamic planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Dynamics of rigid bodies undergoing multiple frictional contactsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The instantaneous kinematics and planning of dextrous manipulationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental ResultsThe International Journal of Robotics Research, 1999
- On Dynamic Multi‐Rigid‐Body Contact Problems with Coulomb FrictionZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik, 1997
- Practical Force-Motion Models for Sliding ManipulationThe International Journal of Robotics Research, 1996
- Issues in computing contact forces for non-penetrating rigid bodiesAlgorithmica, 1993
- Unilateral Contact and Dry Friction in Finite Freedom DynamicsPublished by Springer Nature ,1988
- The motion of a pushed, sliding workpieceIEEE Journal on Robotics and Automation, 1988
- Dynamics of mechanical systems with Coulomb friction, stiction, impact and constraint addition-deletion—I theoryMechanism and Machine Theory, 1986