Hybrid complementarity formulations for robotics applications
- Resource Type
- Authors
- Cory Crean; Kishor D. Bhalerao; Kurt S. Anderson
- Source
- ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik. 91:386-399
- Subject
- Mathematical optimization
Iterative method
business.industry
Applied Mathematics
Integrator
Computational Mechanics
Robotics
Artificial intelligence
business
Complementarity (physics)
Algorithm
Mathematics
- Language
- ISSN
- 0044-2267
MSC (2000) 04A25 The focus of this paper is to review hybrid recursive-complementarityformulations 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 multibody systems with a constrained tree-type topology. These common steps are pointed out. Theoretical formulation is given for systems using three important classes (O(n 3 ), O(n) and O(log(n))) of multibody algorithms. Further, numerical comparison for the efficiency is given for rigid multibody systems. The paper makes recommendations on the choice of hybrid complementarity formulations which would result in the most efficient simulation. The paper further gives a non-iterati ve approach to allow the use of explicit higher order integrators for frictionless contacts. The difficulties in extending th is approach to allow for frictional contact are also discuss ed. Copyright line will be provided by the publisher