Computer aided kinematics and dynamics of mechanical systems. Vol. 1: basic methods
Computer aided kinematics and dynamics of mechanical systems. Vol. 1: basic methods
Interfaces to PATH 3.0: Design, Implementation and Usage
Computational Optimization and Applications - Special issue on computational optimization—a tribute to Olvi Mangasarian, part I
Rigid-Body Dynamics with Friction and Impact
SIAM Review
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Algorithms and environments for complementarity
Algorithms and environments for complementarity
Distributed identification of the lineality space of a cone
The Journal of Supercomputing
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We present a method for simulating rigid multibody dynamics with joints, contact, and friction. In this work, the nonsmooth contact and frictional constraints are represented by hard constraints. The method requires the solution of only one linear complementarity problem per step and can progress at much larger time steps than explicit penalty methods, which are currently the method of choice for most of these simulations.