Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

DOI10.1007/s11044-013-9392-5zbMath1351.70014OpenAlexW2031506309MaRDI QIDQ487547

Bernard Brogliato

Publication date: 22 January 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://hal.inria.fr/hal-01088288/file/BBKQ.pdf

zbMATH Keywords

Coulomb frictionunilateral constraintscomplementarity conditionsPainlevé paradoxbilateral holonomic constraintskinematic impact lawkinetic angleskinetic metricMoreau's impact lawquasi-Lagrange dynamicsquasi-velocitiestangential restitution

Mathematics Subject Classification ID

Problems involving a system of particles with friction (70F40) Holonomic systems related to the dynamics of a system of particles (70F20) Collision of rigid or pseudo-rigid bodies (70F35) Lagrange's equations (70H03)

Related Items (9)

Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb's friction: a tutorial ⋮ Contact constraints and dynamical equations in Lagrangian systems ⋮ A general formulation for the contact between superellipsoid surfaces and nodal points ⋮ Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems ⋮ Modeling three-dimensional surface-to-surface rigid contact and impact ⋮ Modeling and analysis of multiple impacts in multibody systems under unilateral and bilateral constrains based on linear projection operators ⋮ The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem ⋮ Constrained Lagrangian dynamics based on reduced quasi-velocities and quasi-forces

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