A Unified Approach for Hybrid Complementarity Formulations to Model Intermittent Contact in Multibody Systems

摘要

The focus of this paper is to review hybrid recursive-complementarity formulations for multibody systems characterized by a large number of bilateral constraints which are frequently encountered in robotics. Here, hybrid implies the use of complementarity contact models with recursive forward dynamics schemes. Such, formulations have a common underlying structure which can be applied to both rigid and flexible multibody systems with a constrained tree-type topology. These common steps are pointed out. Theoretical formulation is given for rigid and flexible multibody systems using three important classes (O(n~3), O(n) and O(log(n))) of multibody algorithms. Numerical comparison for the efficiency is given for rigid multibody systems.