 |
Journal articles
A formulation of the linear discrete Coulomb friction problem via convex optimization
Abstract : This paper presents a new formulation of the dynamical Coulomb friction problem in finite dimension with discretized time. The novelty of our approach is to capture and treat directly the friction model as a parametric quadratic optimization problem with second-order cone constraints coupled with a fixed point equation. This intrinsic formulation allows a simple existence proof under reasonable assumptions, as well as a variety of solution algorithms. We study mechanical interpretations of these assumptions, showing in particular that they are actually necessary and sufficient for a basic example similar to the so-called ''paradox of Painlevé''. Finally, we present some implementations and experiments to illustrate the practical aspect of our work.
Cited literature [29 references]
https://hal.inria.fr/inria-00495734
Contributor : Vincent Acary <>
Submitted on : Monday, June 28, 2010 - 4:24:57 PM
Last modification on : Tuesday, February 9, 2021 - 3:20:07 PM
Long-term archiving on: : Thursday, June 30, 2011 - 1:06:48 PM
Contributor : Vincent Acary <>
Submitted on : Monday, June 28, 2010 - 4:24:57 PM
Last modification on : Tuesday, February 9, 2021 - 3:20:07 PM
Long-term archiving on: : Thursday, June 30, 2011 - 1:06:48 PM
File
ptfixe.pdf
Files produced by the author(s)