Sunday, September 24

Numerical Simulation of Rigid Body Systems Using Complementarity Methods

10:30 AM-12:30 PM

The study of rigid body contact mechanics has sparked substantial interest recently. Due to the nonpenetration and contact conditions, dynamic rigid body systems are best modelled using differential algebraic equations combined with complementarity conditions. The speakers in this minisymposium will discuss this approach for solving rigid body problems and applications to contact problems arising in robotics.

Organizers: James A. Tzitzouris and Jong-Shi Pang
The Johns Hopkins University, USA
10:30-10:55 Complementarity in Rigid-body and Elastic-body Impact Problems
David E. Stewart, University of Iowa, USA
11:00-11:25 Stability Characterizations of Rigid Body Contact Problems with Coulomb Friction
Jeff C. Trinkle, Sandia National Laboratories, Albuquerque, USA; and J. S. Pang, The Johns Hopkins University, USA
11:30-11:55 A Time-Stepping Complementarity Approach to Contact Problems
James A. Tzitzouris and Jong-Shi Pang, Organizers
12:00-12:25 Models for Multi-Rigid-Body with Contact and Friction
Mihai Anitescu, University of Pittsburgh, USA; and Florian A. Potra. University of Maryland, Baltimore County, USA

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