Skip to Main content Skip to Navigation
Journal articles

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

Bernard Brogliato 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
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.
Document type :
Journal articles
Complete list of metadatas

Cited literature [87 references]  Display  Hide  Download

https://hal.inria.fr/hal-01088288
Contributor : Bernard Brogliato <>
Submitted on : Wednesday, November 1, 2017 - 4:33:32 PM
Last modification on : Friday, July 17, 2020 - 11:38:58 AM
Long-term archiving on: : Friday, February 2, 2018 - 12:53:03 PM

File

BBKQ.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Bernard Brogliato. Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction. Multibody System Dynamics, Springer Verlag, 2014, 32 (2), pp.175-216. ⟨10.1007/s11044-013-9392-5⟩. ⟨hal-01088288⟩

Share

Metrics

Record views

548

Files downloads

778