Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem
Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem
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DOI：
10.1115/1.4037415
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发表时间：
2018
影响因子：
2
通讯作者：
D. Negrut;R. Serban;A. Tasora
中科院分区：
文献类型：
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作者：
D. Negrut;R. Serban;A. Tasora
我们用互补的方法建立了库仑摩擦模型，并将其与非穿透条件相结合，并附加到一个微分代数问题中来描述具有摩擦和接触的多体系统的动力学特性。将问题简化为锥互补问题，证明了锥互补问题的解是二次锥约束二次规划的一阶最优性条件。
We use a complementarity approach to pose the Coulomb friction model, combine it with a non-penetration condition, and append to a differential algebraic problem to characterize the dynamics of multibody systems with friction and contact. The resulting problem is relaxed to a Cone Complementarity Problem, whose solution is shown to represent the first order optimality condition of a quadratic program with conic constraints.