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Reports (Research Report) Year : 2012

Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

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.
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Dates and versions

hal-00762986 , version 1 (10-12-2012)

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  • HAL Id : hal-00762986 , version 1

Cite

Bernard Brogliato. Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction. [Research Report] RR-8158, INRIA. 2012. ⟨hal-00762986⟩
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