Optimization-based simulation of nonsmooth rigid multibody dynamics. (English) Zbl 1085.70008
Summary: 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.
MSC:
| 70E55 | Dynamics of multibody systems |
| 34A60 | Ordinary differential inclusions |
| 70F40 | Problems involving a system of particles with friction |
| 90C90 | Applications of mathematical programming |
| 65K10 | Numerical optimization and variational techniques |
| 90C33 | Complementarity and equilibrium problems and variational inequalities (finite dimensions) (aspects of mathematical programming) |
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