Splitting Methods for Dry Frictional Contact Problems in Rigid Multibody Systems: Preliminary Performance Results

A splitting method for solving LCP based models of dry frictional contact problems in rigid multibody systems based on box MLCP solver is presented. Since such methods rely on fast and robust box MLCP solvers, several methods are reviewed and their performance is compared both on random problems and on simulation data. We provide data illustrating the convergence rate of the splitting method which demonstrates that they present a viable alternative to currently available methods. CR Categories: G.1.6 [Mathematics of Computing]: Optimization—Nonlinear Programming I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling—Physically based modeling I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism—Virtual Reality I.6.8 [Simulation and Modeling]: Types of Simulation—Animation

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