Conference proceeding
An implicit time-stepping scheme for rigid body dynamics with Coulomb friction
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), Vol.1, pp.162-169 vol.1
2000
DOI: 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.
Details
- Title: Subtitle
- An implicit time-stepping scheme for rigid body dynamics with Coulomb friction
- Creators
- D Stewart - University of IowaJ.C Trinkle - Sandia National Laboratories California
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), Vol.1, pp.162-169 vol.1
- Publisher
- IEEE
- DOI
- 10.1109/ROBOT.2000.844054
- ISSN
- 1050-4729
- eISSN
- 2577-087X
- Language
- English
- Date published
- 2000
- Academic Unit
- Mathematics
- Record Identifier
- 9984240778202771
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