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Journal Articles Multibody System Dynamics Year : 2014

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

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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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Dates and versions

hal-01088288 , version 1 (01-11-2017)

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