Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact

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dc.contributor.authorEnzenhöfer, Andreasen_US
dc.contributor.authorAndrews, Sheldonen_US
dc.contributor.authorTeichmann, Mareken_US
dc.contributor.authorKövecses, Józsefen_US
dc.contributor.editorAndrews, Sheldon and Erleben, Kenny and Jaillet, Fabrice and Zachmann, Gabrielen_US
dc.date.accessioned2018-04-23T14:40:57Z
dc.date.available2018-04-23T14:40:57Z
dc.date.issued2018
dc.description.abstractThe trade-off between accuracy and computational performance is one of the central conflicts in real-time multibody simulations, much of which can be attributed to the method used to solve the constrained multibody equations. This paper examines four mixed linear complementarity problem (MLCP) algorithms when they are applied to physical problems involving frictional contact. We consider several different, and challenging, test cases such as grasping, stability of static models, closed loops, and long chains of bodies. The solver parameters are tuned for these simulations and the results are evaluated in terms of numerical accuracy and computational performance. The objective of this paper is to determine the accuracy properties of each solver, find the appropriate method for a defined task, and thus draw conclusions regarding the applicability of each method.en_US
dc.description.sectionheadersTechnical Papers I
dc.description.seriesinformationWorkshop on Virtual Reality Interaction and Physical Simulation
dc.identifier.doi10.2312/vriphys.20181063
dc.identifier.isbn978-3-03868-059-8
dc.identifier.pages11-20
dc.identifier.urihttps://doi.org/10.2312/vriphys.20181063
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/vriphys20181063
dc.publisherThe Eurographics Associationen_US
dc.subjectI.3.5 [Computer Graphics]
dc.subjectPhysically Based Modeling
dc.titleComparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contacten_US
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