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Optimization-based simulation of nonsmooth rigid multibody dynamics

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Abstract

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.

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  1. Mathematics and Computer Science Division, Building 221, Argonne National Laboratory, 9700 South Cass Avenue, Argonne, IL, 60439, USA

    Mihai Anitescu

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  1. Mihai Anitescu
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Correspondence to Mihai Anitescu.

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Anitescu, M. Optimization-based simulation of nonsmooth rigid multibody dynamics. Math. Program. 105, 113–143 (2006). https://doi.org/10.1007/s10107-005-0590-7

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  • DOI: https://doi.org/10.1007/s10107-005-0590-7

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