Geometric Stiffness for Real-time Constrained Multibody Dynamics

• DOI: 10.1111/cgf.13122
• Publication Date: 2017-05-24T00:39:32Z
• Authors: Sheldon Andrews; Marek Teichmann; Paul G. Kry
• Keywords: Multibody system

This paper focuses on the stable and efficient simulation of articulated rigid body systems for real-time applications. Specifically, we focus use geometric stiffness which can dramatically increase stability. We examine several numerical problems with inclusion in equations motion, as proposed by previous work, address these issues introducing a novel method efficiently building linear system. offers improved tractability efficiency. Furthermore, tends to significantly dissipate kinetic energy. propose an adaptive damping scheme, inspired stiffness, that uses stability criterion based integrator determine amount non-constitutive required stabilize simulation. With this approach, not only is dynamical behavior better preserved, but remains mass ratios 1,000,000-to-1 at time steps up 0.1 s. present number challenging scenarios demonstrate our improves efficiency, it increases orders magnitude compared work.