"Constraint Stabilization for Time-Stepping Approaches for Rigid Multibody Dynamics with Joints, Contact, and Friction"
M. Anitescu, A. Miller, G. D. Hart
Proc. DETC'03, . Also Preprint ANL/MCS-P1023-0403
Preprint Version: [pdf]
We present a method for achieving geometrical constraint stabilization for a linear-complementarity-based time-stepping scheme for rigid multibody dynamics with joints, contact, and friction. The method requires the solution of only one linear complementarity problem per step. The method depends on an adjustable parameter \gamma, but the constraint stabilization effect is shown to hold for any \gamma in (0,1]. Several examples are used to demonstrate the constraint stabilization effect.