Formulatin of spatial contact situations in rigid multibody systems Original Research Article

The paper gives on overview of possible formulations of spatial contact situations as they occur in dynamic systems composed of rigid bodies. We will discuss formulations of the contact problem of sliding and rolling as linear complementarity problems in standard form, where general approximations of convex sets by polytopes are also presented. For completeness, a short treatise on spatial contact kinematics and the structure of the equations of motion is given.