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

Bernard Brogliato 1, *
* Corresponding author
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, LJK - Laboratoire Jean Kuntzmann, Inria Grenoble - Rhône-Alpes
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.
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https://hal.inria.fr/hal-00762986
Contributor : Bernard Brogliato <>
Submitted on : Monday, December 10, 2012 - 9:24:24 AM
Last modification on : Tuesday, February 9, 2021 - 3:20:07 PM
Long-term archiving on: : Monday, March 11, 2013 - 12:11:22 PM

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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] RR-8158, INRIA. 2012. ⟨hal-00762986⟩

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