Full Content is available to subscribers

Subscribe/Learn More  >

Adaptive Semi-Implicit Integrator for Articulated Rigid-Body Systems

[+] Author Affiliations
Joe Hewlett, Laszlo Kovacs, Alfonso Callejo, Paul G. Kry, József Kövecses, Jorge Angeles

McGill University, Montréal, QC, Canada

Paper No. DETC2016-60370, pp. V006T09A031; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5018-3
  • Copyright © 2016 by ASME


This paper concerns the dynamic simulation of constrained rigid-body systems in the context of real-time applications and stable integrators. The goal is to adaptively find a balance between the stability of an over-damped implicit scheme and the energetic consistency of the symplectic, semi-implicit Euler scheme. As a starting point, we investigate in detail the properties of a new time stepping scheme proposed by Tournier et al., “Stable constrained dynamics”, ACM transactions on Graphics, 2015, which approximates a full non-linear implicit solution with a single linear system without compromising stability. This introduces a geometric stiffness term that improves numerical stability up to a certain time step size, at the cost of large mechanical dissipation compared to the traditional formulation. Dissipation is sometimes undesirable from a mechanical point of view, especially if the dissipation is not quantified. In this paper, we propose to use an additional control parameter to regulate how “implicit” the Jacobian matrix is, and change the degree to which the geometric stiffness term contributes. For the selection of this parameter, adaptive schemes will be proposed based on the monitoring of energy drift. The proposed adaptive method is verified through the simulation of chain-like systems.

Copyright © 2016 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In