Dynamics solution for contact state transition of multi-rigid-body manipulation systems based on the linear complementarity problem

摘要

The dynamics solution for contact state transition of three-dimensional multi-rigid body manipulation systems with Coulomb friction is proposed. A linear complementarity problem method is applied to obtain governing equations for the dynamics model of the multi-rigid body manipulation systems. The conditions under which the multi-rigid body manipulation systems are static determinancy are derived. Algorithms for solving these problems using Lemke's algorithm are shown. With an illustrating numerical example, the effectiveness of the computational scheme is verified and the contact state transitions for friction coefficients and joint torques are discussed.