Dynamical Modeling of Constraints with Friction in Mechanical Systems

摘要

Modeling of unilateral constraints in multi-body systems is already a challenging task itself, which becomes even more complex if friction has to be considered caused by an active constraint. In this paper, this task is solved by combining two recently developed methods: constraint modeling using power-based restriction functions within Lagrangian mechanics and dynamic modeling of friction effects for numerically robust simulations. The approach is demonstrated on a simulation experiment of a double inverted pendulum.