Skip to Main content Skip to Navigation
Conference papers

An Energy-Based Approach for Contact Force Computation

François Faure 1
1 iMAGIS - Models, Algorithms and Geometry for Computer Generated Image Graphics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : A new approach for computing resting contact forces between solids is presented, which handles both static and sliding friction, while avoiding the problems arising from previous approaches. Each iteration provides values for all unknowns and needs a constant computation time. The first iteration is a global dynamic solution involving inertia and external forces. The subsequent iterations consist of global redistributions of energy through the solids in order to restrict the values within correct bounds, leading to a progressive refinement of the solution. This allows the termination of the computation when a user-defined level of precision is reached. Convergence is proven in the frictionless case. The method is concise and is easily usable in a motion control system. It was implemented and tested on some examples involving simultaneously static and sliding friction along with motion control.
Document type :
Conference papers
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download
Contributor : Team Artis Connect in order to contact the contributor
Submitted on : Thursday, November 18, 2010 - 3:54:06 PM
Last modification on : Monday, December 28, 2020 - 3:44:02 PM
Long-term archiving on: : Saturday, February 19, 2011 - 3:17:46 AM


  • HAL Id : inria-00537533, version 1




François Faure. An Energy-Based Approach for Contact Force Computation. EUROGRAPHICS, Aug 1996, Poitiers, France. pp.357--366. ⟨inria-00537533⟩



Les métriques sont temporairement indisponibles