Sunday, September 24
MS39
Numerical Simulation of Rigid Body Systems Using Complementarity Methods
10:30 AM-12:30 PM
Monticello
The study of rigid body contact mechanics has sparked substantial interest recently. Due to the nonpenetration and
contact conditions, dynamic rigid body systems are best modelled using differential algebraic equations combined with
complementarity conditions. The speakers in this minisymposium will discuss this approach for solving rigid body problems and applications to contact problems arising in robotics.
Organizers: James A. Tzitzouris and Jong-Shi Pang
The Johns Hopkins University, USA
- 10:30-10:55 Complementarity in Rigid-body and Elastic-body Impact Problems
- David E. Stewart, University of Iowa, USA
- 11:00-11:25 Stability Characterizations of Rigid Body Contact Problems with Coulomb Friction
- Jeff C. Trinkle, Sandia National Laboratories, Albuquerque, USA; and J. S. Pang, The Johns Hopkins University, USA
- 11:30-11:55 A Time-Stepping Complementarity Approach to Contact Problems
- James A. Tzitzouris and Jong-Shi Pang, Organizers
- 12:00-12:25 Models for Multi-Rigid-Body with Contact and Friction
- Mihai Anitescu, University of Pittsburgh, USA; and Florian A. Potra. University of Maryland, Baltimore County, USA