Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems

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Univ of Iowa, Iowa City, United States [1 ]
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Nonlinear Dyn | / 3卷 / 231-247期
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The algorithm presented in this paper has been implemented in a 2d package in cooperation with James Cremer. The software is a part of Project Isaac. For details and additional information; see the web page at http://www.cs.uiowa.edu/˜isaac. The authors are also very grateful to James Cremer and David Stewart for their comments on the manuscript. The work of the second author author was supported in part by NSF (Grant DMS 9305760) and by US Army Tank-Automotive Command (TACOM); through the Automotive Research Center (Department of Defense contract number DAAE07-94-C-R094);
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