Simulating non-holonomic constraints within the LCP-based simulation framework

In this paper, we will extend the linear complementarity problem-based rigid-body simulation framework with non-holonomic constraints. We consider three different types of such, namely equality, inequality and contact constraints. We show how non-holonomic equality and inequality constraints can be incorporated directly, and derive formalism for how the non-holonomic contact constraints can be modelled as a combination of non-holonomic equality constraints and ordinary contacts constraints. For each of these three we are able to guarantee solvability, when using Lemke’s algorithm. A number of examples are included to demonstrate the non-holonomic constraints. Copyright 2006 John Wiley & Sons, Ltd.