An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction

International Journal for Numerical Methods in Engineering

Volumn 39, Issue 15, 1996, Pages 2673-2691

  Stewart, D E ^a   Trinkle, J C ^b  

^a TEXAS A AND M UNIVERSITY   (United States)

^b Texas AandM University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS; ELASTICITY; FRICTION; MATHEMATICAL MODELS;

INELASTIC IMPACT; RIGID BODIES; TIME-STEPPING SCHEME;

NUMERICAL METHODS;

EID: 0030213721     PISSN: 00295981     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I     Document Type: Article

References (5)

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2. J. K. Mills and C. V. Nguyen, 'Robotic manipulator collisions: modeling and simulation', J. Dynamic Systems Measurement Control, 114, 650-659 (1992).
3. D. Baraff, 'Issues in computing contact forces for non-penetrating rigid bodies', Algorithmica, 10, 292-352 (1993).
4. D. Baraff, 'Fast contact force computation for non-penetrating rigid bodies', Proc. SIGGRAPH'94, ACM, New York, 1994, pp. 23-34.
5. E. J. Haug, S. C. Wu, and S. M. Yang. 'Dynamics of mechanical systems with Coulomb friction, stiction, impact and constraint addition, deletion I, II and III', Mechanism Machine Theory, 21, 401-425 (1986).