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impact simulation

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Simulation of rigid-body impact using the articulated-body algorithm
André Carvalho, Afzal Suleman
Journal:

Robotica / Volume 29 / Issue 5 / September 2011

Published online by Cambridge University Press:

01 September 2010, pp. 649-656
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This paper presents a numerical algorithm to model the impact between articulated structures, or between an articulated structure and an object. The proposed algorithm, called impulse articulated-body algorithm (IABA), is based on the ABA but uses impulses and velocities rather than forces and accelerations. The algorithm also inherits the advantages of the ABA: versatility and low computational cost. The IABA provides a method to determine the impact impulse, without increasing the order of the algorithm.