A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics

Tasora, Alessandro; Anitescu, Mihai

doi:10.1016/j.cma.2010.06.030

Cited by 109 publications

(100 citation statements)

References 42 publications

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“…In general, CCP problems include the more popular Linear Complementarity Problems (LCPs) as subcases; as for LCPs, there are theoretical results for the existence and uniqueness of the solution under mild assumptions [22]. We solve the CCPs using either a fixedpoint iteration [23] or a Spectral Projected Gradient (SPG) Barzilai-Borwein method.…”

Section: A Case Studymentioning

confidence: 99%

Oscillations Control of Rocking-Block-Type Buildings by the Addition of a Tuned Pendulum

Collini

Garziera

Riabova

et al. 2016

Shock and Vibration

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This study deals with the dynamical evolutions exhibited by a simple mechanical model of building, comprising a parallelepiped standing on a horizontal plane. The main goal is the introduction of a pendulum in order to reduce oscillations. The theoretical part of the work consists of a Lagrange formulation and Galerkin approximation method, and dry friction has also been considered. From the analytical/numerical simulations, we derive some important conclusions, providing us with the tools suitable for the design of absorbers in practical cases.

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Section: A Case Studymentioning

confidence: 99%

Oscillations Control of Rocking-Block-Type Buildings by the Addition of a Tuned Pendulum

Collini

Garziera

Riabova

et al. 2016

Shock and Vibration

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“…The Chrono::Engine software is a general-purpose simulator for three dimensional multi-body problems (Tasora and Anitescu, 2011). Specifically, the code is designed to support the simulation of very large systems such as those encountered in granular dynamics, where the number of interacting elements can be in the millions.…”

Section: Chrono::enginementioning

confidence: 99%

CHRONO: a parallel multi-physics library for rigid-body, flexible-body, and fluid dynamics

et al. 2013

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Abstract. The last decade witnessed a manifest shift in the microprocessor industry towards chip designs that promote parallel computing. Until recently the privilege of a select group of large research centers, Teraflop computing is becoming a commodity owing to inexpensive GPU cards and multi to many-core x86 processors. This paradigm shift towards large scale parallel computing has been leveraged in Chrono, a freely available C++ multi-physics simulation package. Chrono is made up of a collection of loosely coupled components that facilitate different aspects of multi-physics modeling, simulation, and visualization. This contribution provides an overview of Chrono::Engine, Chrono::Flex, Chrono::Fluid, and Chrono::Render, which are modules that can capitalize on the processing power of hundreds of parallel processors. Problems that can be tackled in Chrono include but are not limited to granular material dynamics, tangled large flexible structures with self contact, particulate flows, and tracked vehicle mobility. The paper presents an overview of each of these modules and illustrates through several examples the potential of this multi-physics library.

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“…Variants of the complementarity approach to handle elastic and inelastic collisions have also been developed [3]. While the standard LCP formulation uses a discretized approximation for the friction cones, other researchers [12] have explored non-linear cone complementarity approaches that avoid such approximations.…”

Section: Introductionmentioning

confidence: 99%

Minimal Coordinate Formulation of Contact Dynamics in Operational Space

Jain¹,

Crean²,

Kuo³

et al. 2012

Robotics: Science and Systems VIII

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Abstract-In recent years, complementarity techniques have been developed for modeling non-smooth contact and collision dynamics problems for multi-link robotic systems. In this approach, a linear complementarity problem (LCP) is set up using 6n non-minimal coordinates for a system with n links together with all the unilateral constraints and inter-link bilateral constraints on the system. In this paper, we use operational space dynamics to develop a complementarity formulation for contact and collision dynamics that uses minimal coordinates. The use of such non-redundant coordinates results in much smaller size LCP problems and the automatic enforcement of the inter-link bilateral constraints. Furthermore, we exploit operational space low-order algorithms to overcome some of the computational bottlenecks in using minimal coordinates.

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A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics

Cited by 109 publications

References 42 publications

Oscillations Control of Rocking-Block-Type Buildings by the Addition of a Tuned Pendulum

Oscillations Control of Rocking-Block-Type Buildings by the Addition of a Tuned Pendulum

CHRONO: a parallel multi-physics library for rigid-body, flexible-body, and fluid dynamics

Minimal Coordinate Formulation of Contact Dynamics in Operational Space

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