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Simulating non‐holonomic constraints within the LCP‐based simulation framework
Author(s) -
Ellekilde LarsPeter,
Petersen Henrik Gordon
Publication year - 2006
Publication title -
international journal for numerical methods in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.421
H-Index - 168
eISSN - 1097-0207
pISSN - 0029-5981
DOI - 10.1002/nme.1666
Subject(s) - holonomic , holonomic constraints , formalism (music) , complementarity (molecular biology) , mathematical optimization , mathematics , variational inequality , inequality , computer science , linear complementarity problem , classical mechanics , mathematical analysis , physics , artificial intelligence , nonlinear system , art , musical , biology , visual arts , genetics , quantum mechanics
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. Copyright © 2006 John Wiley & Sons, Ltd