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Fast contact force computation for nonpenetrating rigid bodies

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David BaraffAuthors Info & Claims

SIGGRAPH '94: Proceedings of the 21st annual conference on Computer graphics and interactive techniques

Pages 23 - 34

https://doi.org/10.1145/192161.192168

Published: 24 July 1994 Publication History

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Abstract

A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In contrast to previous approaches, the problem of computing contact forces is not transformed into an optimization problem. Because of this, the need for sophisticated optimization software packages is eliminated. For both systems with and without friction, the algorithm has proven to be considerably faster, simple, and more reliable than previous approaches to the problem. In particular, implementation of the algorithm by nonspecialists in numerical programming is quite feasible.

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Fast contact force computation for nonpenetrating rigid bodies

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SIGGRAPH '94: Proceedings of the 21st annual conference on Computer graphics and interactive techniques

July 1994

512 pages

ISBN:0897916670

DOI:10.1145/192161

Chairmen:
Dino Schweitzer
US Air Force Academy, Colorado
,
Andrew Glassner,
Mike Keeler

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 24 July 1994

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SIGGRAPH '94 Paper Acceptance Rate 57 of 242 submissions, 24%;

Overall Acceptance Rate 1,822 of 8,601 submissions, 21%

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https://doi.org/10.1109/ICRA57147.2024.10610750
Pathak MJayanti LRakshit S(2024)Linear complementarity formulations for contact analysis and wear prediction in gearsMechanism and Machine Theory10.1016/j.mechmachtheory.2024.105669198(105669)Online publication date: Aug-2024
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Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact

Dynamic simulation of nonpenetrating rigid bodies

6D frictional contact for rigid bodies

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Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact

Dynamic simulation of nonpenetrating rigid bodies

6D frictional contact for rigid bodies

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