An Evaluation of Methods for Modeling Contact in Multibody Simulation

摘要：

Modeling contact in multibody simulation is a dif- ficult problem frequently characterized by numerically brittle algorithms, long running times, and inaccurate (with respect to theory) models. We present a comprehensive evaluation of four methods for contact modeling on seven benchmark scenarios in order to quantify the performance of these methods with respect to robustness and speed. We also assess the accuracy of these methods where possible. We conclude the paper with a prescriptive description in order to guide the user of multibody simulation.

作者: Evan Drumwright Dylan A. Shell

作者单位: Department of Computer Science,The George Washington University,Washington,DC 20052,USA Department of Computer Science,Texas A&M University,College Station,TX 77840,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1695-1701

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）