Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

Bernard Brogliato 1, *
* Auteur correspondant
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : Quasi-velocities computed with the kinetic metric of a lagrangian system are introduced, and the quasi-Lagrange equations are derived with and without friction. This is shown to be very well suited to systems subject to unilateral constraints (hence varying topology) and impacts. Energetical consistency of a generalized kinematic impact law is carefully studied, both in the frictionless and the frictional cases. Some results concerning the existence and uniqueness of solutions to the so-called contact linear complementarity problem, when friction is present, are provided.
Type de document :
Rapport
[Research Report] INRIA. 2012
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https://hal.inria.fr/hal-00762986
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Soumis le : lundi 10 décembre 2012 - 09:24:24
Dernière modification le : vendredi 7 septembre 2018 - 16:06:02
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RR-8158.pdf
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  • HAL Id : hal-00762986, version 1

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Bernard Brogliato. Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction. [Research Report] INRIA. 2012. 〈hal-00762986〉

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