The words contained in this file might help you see if this file matches what you are looking for:

...Animplicit time stepping scheme for rigid body dynamicswithcoulombfriction david stewart j c trinkle dept of mathematics sandia national labs university iowa albuquerque nm city ia abstract in this paper a new method robots with useable knowledge multibody systems simulating bodies is given unlike meth one must solve the inverse or planning problem odswhichtakeaninstantaneouspointofview ourmethod previous work that will eventually help us develop gen based on impulse momentum equations and so does eral algorithms tasks contact include not need to explicitly resolve impulsive forces studies mathematical models other hand our distinct from impul theories solution existence uniqueness those sive methods it require explicit collision simulation motion checking can handle simultaneous impacts nu constrained implementations merical results are planar three planners these despite their restricted dimensional example which demonstrate practicality domains we contend its convergence as step siz...