An energy-based approach for contact force computation
A new approach for computing resting contact forces between solids is presented, which handles both static and sliding friction, while avoiding the problems arising from previous approaches. Each iteration provides values for all unknowns and needs a constant computation time. The first iteration is a global dynamic solution involving inertia and external forces. The subsequent iterations consist of global redistributions of energy through the solids in order to restrict the values within correct bounds, lending to a progressive refinement of the solution. This allows the termination of the computation wizen a user-defined level of precision is reached. Convergence is pc-oven in the frictionless case. The method is concise and is easily usable in a motion control system. It was implemented and rested on some examples involving simultaneously static and sliding friction along with motion control.
contact forces friction dynamics