Quartic formulation of Coulomb 3D frictional contact

Olivier Bonnefon 1 Gilles Daviet 1
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 : In this paper, we focus on the problem of a single contact with Coulomb friction, which we reduce to a root-nding problem on a degree 4 polynomial. This formulation give us the exact number of solutions, as well as their analytical form when they exist.
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[Technical Report] RT-0400, INRIA. 2011
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Olivier Bonnefon, Gilles Daviet. Quartic formulation of Coulomb 3D frictional contact. [Technical Report] RT-0400, INRIA. 2011. <inria-00553859>

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