Optimization-based simulation of nonsmooth rigid multibody dynamics

Authors:
Mihai Anitescu
Affiliations:
Mathematics and Computer Science Division, Building 221, Argonne National Laboratory, 9700 South Cass Avenue, 60439, Argonne, IL, USA
Venue:
Mathematical Programming: Series A and B
Year:
2006

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Abstract

We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with fixed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure differential inclusion. We present numerical results for a few examples, and we illustrate the difference between the results from our scheme and previous, linear-complementarity-based time-stepping schemes.