Convergence of a Class of Semi-Implicit Time-Stepping Schemes for Nonsmooth Rigid Multibody Dynamics

摘要: In this work we present a framework for the convergence analysis in measure differential inclusion sense of class time-stepping schemes multibody dynamics with contacts, joints, and friction. This methods solves one linear complementarity problem per step contains semi-implicit Euler method, as well trapezoidal-like which second-order was recently proved under certain conditions. By using concept reduced friction cone, includes, first time, result case that includes joints. An unexpected intermediary is are able to define discrete velocity function bounded variation, although natural produced by our algorithm may have unbounded variation.