On the Normal Component of Centralized Frictionless Collision Sequences
Pieter J. Mosterman
Institute for Robotics and Mechatronics
DLR Oberpfaffenhofen
Abstract
A common assumption for
rigid body collisions with multiple impact points is
that all collisions
occur simultaneously and are synchronized in their
compression/expansion behavior, a useful assumption given the microscopic
time-scale at which collisions occur.
In case collisions
are dependent on one another, however, there is interaction
between and within compression and expansion phases.
Instead of a pairwise evaluation of collisions
or simultaneous activation of all collision constraints,
a rule is presented that orders the collisions as
a sequence of interacting events at a point in time
to handle the normal component of the velocities.
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