Extensive analysis of Linear Complementarity Problem (LCP) solver performance on randomly generated rigid body contact problems
Extensive analysis of Linear Complementarity Problem (LCP) solver performance on randomly generated rigid body contact problems
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广泛分析线性互补问题 (LCP) 求解器在随机生成的刚体接触问题上的性能
DOI：
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发表时间：
2012
期刊：
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通讯作者：
Dylan A. Shell
中科院分区：
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作者：
Evan Drumwright;Dylan A. Shell
线性互补问题（LCP）是机器人动力学、优化和仿真中的关键问题。动态机器人仿真的常见经验表明，LCP求解器的数值鲁棒性通常决定了仿真的可用性：如果求解器未能找到解或找到具有显著残余误差的解，则可能导致互穿，仿真可能获得能量，或两者兼而有之。本文首次对跨空间多刚体接触问题的LCP求解方法进行了综合评价。我们沿着溶解度、溶液质量和运行时间的维度评估这些求解器的性能。
The Linear Complementarity Problem (LCP) is a key problem in robot dynamics, optimization, and simulation. Common experience with dynamic robotic simulations suggests that the numerical robustness of the LCP solver often determines simulation usability: if the solver fails to find a solution or finds a solution with significant residual error, interpenetration can result, the simulation can gain energy, or both. This paper undertakes the first comprehensive evaluation of LCP solvers across the space of multi-rigid body contact problems. We evaluate the performance of these solvers along the dimensions of solubility, solution quality, and running time.