Simulating non-holonomic constraints within the LCP-based simulation framework

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Resumé

In this paper, we will extend the linear complementarity problem-based rigid-body simulation framework with non-holonomic constraints. We consider three different types of such, namely equality, inequality and contact constraints. We show how non-holonomic equality and inequality constraints can be incorporated directly, and derive formalism for how the non-holonomic contact constraints can be modelled as a combination of non-holonomic equality constraints and ordinary contacts constraints. For each of these three we are able to guarantee solvability, when using Lemke's algorithm. A number of examples are included to demonstrate the non-holonomic constraints.
Udgivelsesdato: Marts
OriginalsprogEngelsk
TidsskriftInternational Journal for Numerical Methods in Engineering
Vol/bind67
Udgave nummer10
Sider (fra-til)1445-1466
Antal sider21
ISSN0029-5981
StatusUdgivet - 2006

Citer dette

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abstract = "In this paper, we will extend the linear complementarity problem-based rigid-body simulation framework with non-holonomic constraints. We consider three different types of such, namely equality, inequality and contact constraints. We show how non-holonomic equality and inequality constraints can be incorporated directly, and derive formalism for how the non-holonomic contact constraints can be modelled as a combination of non-holonomic equality constraints and ordinary contacts constraints. For each of these three we are able to guarantee solvability, when using Lemke's algorithm. A number of examples are included to demonstrate the non-holonomic constraints. Udgivelsesdato: Marts",
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Simulating non-holonomic constraints within the LCP-based simulation framework. / Ellekilde, Lars-Peter; Petersen, Henrik Gordon.

I: International Journal for Numerical Methods in Engineering, Bind 67, Nr. 10, 2006, s. 1445-1466.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Simulating non-holonomic constraints within the LCP-based simulation framework

AU - Ellekilde, Lars-Peter

AU - Petersen, Henrik Gordon

PY - 2006

Y1 - 2006

N2 - In this paper, we will extend the linear complementarity problem-based rigid-body simulation framework with non-holonomic constraints. We consider three different types of such, namely equality, inequality and contact constraints. We show how non-holonomic equality and inequality constraints can be incorporated directly, and derive formalism for how the non-holonomic contact constraints can be modelled as a combination of non-holonomic equality constraints and ordinary contacts constraints. For each of these three we are able to guarantee solvability, when using Lemke's algorithm. A number of examples are included to demonstrate the non-holonomic constraints. Udgivelsesdato: Marts

AB - In this paper, we will extend the linear complementarity problem-based rigid-body simulation framework with non-holonomic constraints. We consider three different types of such, namely equality, inequality and contact constraints. We show how non-holonomic equality and inequality constraints can be incorporated directly, and derive formalism for how the non-holonomic contact constraints can be modelled as a combination of non-holonomic equality constraints and ordinary contacts constraints. For each of these three we are able to guarantee solvability, when using Lemke's algorithm. A number of examples are included to demonstrate the non-holonomic constraints. Udgivelsesdato: Marts

KW - rigid-body dynamics • linear complementarity problem • non-holonomic constraints

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VL - 67

SP - 1445

EP - 1466

JO - International Journal for Numerical Methods in Engineering

JF - International Journal for Numerical Methods in Engineering

SN - 0029-5981

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