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| Content Provider | Springer Nature Link |
|---|---|
| Author | Brogliato, Bernard |
| Copyright Year | 2013 |
| 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. |
| Starting Page | 175 |
| Ending Page | 216 |
| Page Count | 42 |
| File Format | |
| ISSN | 13845640 |
| Journal | Multibody System Dynamics |
| Volume Number | 32 |
| Issue Number | 2 |
| e-ISSN | 1573272X |
| Language | English |
| Publisher | Springer Netherlands |
| Publisher Date | 2013-09-07 |
| Publisher Place | Dordrecht |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Bilateral holonomic constraints Unilateral constraints Complementarity conditions Coulomb friction Tangential restitution Painlevé paradox Quasi-velocities Quasi-Lagrange dynamics Kinematic impact law Moreau’s impact law Kinetic angles Kinetic metric Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications |
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