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Simulation of rigid-body impact using the articulated-body algorithm

Published online by Cambridge University Press:  01 September 2010

André Carvalho  and
Afzal Suleman
André Carvalho
Affiliation:
Department of Mechanical Engineering, University of Victoria, 3800 Finnerty Road, Victoria, BC, CanadaV8P5C2
Afzal Suleman*
Affiliation:
Department of Mechanical Engineering, University of Victoria, 3800 Finnerty Road, Victoria, BC, CanadaV8P5C2
*
*Corresponding author. E-mail: suleman@uvic.ca
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Summary

This paper presents a numerical algorithm to model the impact between articulated structures, or between an articulated structure and an object. The proposed algorithm, called impulse articulated-body algorithm (IABA), is based on the ABA but uses impulses and velocities rather than forces and accelerations. The algorithm also inherits the advantages of the ABA: versatility and low computational cost. The IABA provides a method to determine the impact impulse, without increasing the order of the algorithm.

Keywords

Rigid-body dynamicsImpact simulationRobotics
Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 649 - 656
Copyright
Copyright © Cambridge University Press 2010

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