Abstract
The paper presents a simple, robust, and effective constraint enforcement scheme for rigid body dynamic simulation. The constraint enforcement scheme treats the constraint equations implicitly providing stability as well as accuracy in constrained dynamic problems. The method does not require ad-hoc problem dependent parameters. We describe the formulation of implicit constraint enforcement for both holonomic and non-holonomic cases in rigid body simulation. A first order version of the method is compared to a first order version of the well-known Baumgarte stabilization.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Baumgarte, J.: Stabilization of constraints and integrals of motion in dynamical systems. Computer Methods in Applied Mechanics, 1–16 (1972)
Baraff, D.: Linear-time dynamics using Lagrange multipliers. In: Proceedings of SIGGRAPH 1996, ACM Press/ACM SIGGRAPH, Computer Graphics Proceedings, pp. 137–146 (1996)
Barzel, R., Barr, A.: A modeling system based on dynamic constraints. Computer Graphics 22(4), 179–188 (1988)
Platt, J.C., Barr, A.: Constraint methods for flexible models. Computer Graphics 22(4), 279–288 (1988)
Cline, M.B., Pai, D.K.: Post-stabilization for rigid body simulation with contact and constraints. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3744–3751 (2003)
Jeon, H., Choi, M., Hong, M.: Numerical stability and convergence analysis of geometric constraint enforcement in dynamic simulation systems. In: Proceedings of the International Conference on Modeling, Simulation and Visualization Methods, pp. 207–213 (2004)
Hong, M., Choi, M., Jung, S., Welch, S., Trapp, J.: Effective constrained dynamic simulation using implicit constraint enforcement. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 4531–4536 (2005)
Greenwood, D.: Advanced Dynamics, Cambridge (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hong, M., Welch, S., Trapp, J., Choi, MH. (2006). Implicit Constraint Enforcement for Rigid Body Dynamic Simulation. In: Alexandrov, V.N., van Albada, G.D., Sloot, P.M.A., Dongarra, J. (eds) Computational Science – ICCS 2006. ICCS 2006. Lecture Notes in Computer Science, vol 3991. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11758501_67
Download citation
DOI: https://doi.org/10.1007/11758501_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-34379-0
Online ISBN: 978-3-540-34380-6
eBook Packages: Computer ScienceComputer Science (R0)