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

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    Date
    2018
    Author
    Enzenhöfer, Andreas
    Andrews, Sheldon
    Teichmann, Marek
    Kövecses, József
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    Abstract
    The 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.
    BibTeX
    @inproceedings {vriphys.20181063,
    booktitle = {Workshop on Virtual Reality Interaction and Physical Simulation},
    editor = {Andrews, Sheldon and Erleben, Kenny and Jaillet, Fabrice and Zachmann, Gabriel},
    title = {{Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact}},
    author = {Enzenhöfer, Andreas and Andrews, Sheldon and Teichmann, Marek and Kövecses, József},
    year = {2018},
    publisher = {The Eurographics Association},
    ISBN = {978-3-03868-059-8},
    DOI = {10.2312/vriphys.20181063}
    }
    URI
    http://dx.doi.org/10.2312/vriphys.20181063
    https://diglib.eg.org:443/handle/10.2312/vriphys20181063
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    Eurographics Association copyright © 2013 - 2020 
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    System hosted at  Graz University of Technology.
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