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Abstract: The use of Coulomb's friction law with the principles of classical rigid body dynamics introduces mathematical inconsistencies. Specifically, the forward dynamics problem can have no solutions or multiple solutions. In these situations, compliant contact models, while increasing the dimensionality of the state vector, can resolve these problems. The simplicity and efficiency of rigid body models, however, provide strong motivation for their use during those portions of a simulation when the... (Update)
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BibTeX entry: (Update)
P. Song, P. Kraus, V. Kumar, and P. Dupont. Analysis of rigid body dynamic models for simulation of systems with frictional contacts. Technical Report MS-CIS-00-08, University of Pennsylvania - Department of Computer and Information Science, 2000. Available at http://www.cis.upenn.edu/techreports. http://citeseer.ist.psu.edu/article/song00analysis.html More
@misc{ song00analysis,
author = "P. Song and P. Kraus and V. Kumar and P. Dupont",
title = "Analysis of rigid body dynamic models for simulation of systems with frictional
contacts",
text = "P. Song, P. Kraus, V. Kumar, and P. Dupont. Analysis of rigid body dynamic
models for simulation of systems with frictional contacts. Technical Report
MS-CIS-00-08, University of Pennsylvania - Department of Computer and Information
Science, 2000. Available at http://www.cis.upenn.edu/techreports.",
year = "2000",
url = "citeseer.ist.psu.edu/article/song00analysis.html" }
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