Rigid-Body Dynamics with Friction and Impact

摘要: Rigid-body dynamics with unilateral contact is a good approximation for wide range of everyday phenomena, from the operation car brakes to walking rock slides. It also vital importance simulating robots, virtual reality, and realistic animation. However, correctly modeling rigid-body friction difficult due number discontinuities in behavior rigid bodies inherent Coulomb law. This particularly crucial handling situations large coefficients friction, which can result paradoxical results known at least since Painleve [C. R. Acad. Sci. Paris, 121 (1895), pp. 112--115]. single example has been counterexample cause controversy ever since, only recently have there rigorous mathematical that show existence solutions his example. The new developments come several sources: "sweeping processes" measure differential inclusions Moreau 1970s 1980s, variational inequality approaches Duvaut J.-L. Lions 1970s, use complementarity problems formulate frictional by Lotstedt early 1980s. it wasn't until much more these tools were finally able produce about impulses.