Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
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This paper presents a methodology for treating energy consistency when considering multiple simultaneous impacts and contacts with friction in the simulation of systems of multiple interconnected bodies. Hard impact and contact is considered where deformation of the impacting surfaces is negligible. The proposed approach uses a discrete algebraic model of impact in conjunction with moment and tangential coefficients of restitution (CORs) to develop a general impact law for determining post-impact velocities. This process depends on impulse-momentum theory, complementarity conditions, a principle of maximum dissipation, and the determination of contact forces. The proposed methodology also uses an energy-modifying COR to directly control the system's energy. The approach is illustrated on a bicycle-like structure.