A nonsmooth nonlinear conjugate gradient method for interactive contact force problems
Research output: Contribution to journal › Conference article › Research › peer-review
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A nonsmooth nonlinear conjugate gradient method for interactive contact force problems. / Silcowitz, Morten; Abel, Sarah Maria Niebe; Erleben, Kenny.
In: The Visual Computer, Vol. 26, No. 6, 2010, p. 893-901.Research output: Contribution to journal › Conference article › Research › peer-review
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TY - GEN
T1 - A nonsmooth nonlinear conjugate gradient method for interactive contact force problems
AU - Silcowitz, Morten
AU - Abel, Sarah Maria Niebe
AU - Erleben, Kenny
PY - 2010
Y1 - 2010
N2 - Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. The contact force problem can be formulated in the form of a nonlinear complementarity problem (NCP), which can be solved using an iterative splitting method, such as the projected Gauss–Seidel (PGS) method. We present a novel method for solving the NCP problem by applying a Fletcher–Reeves type nonlinear nonsmooth conjugate gradient (NNCG) type method. We analyze and present experimental convergence behavior and properties of the new method. Our results show that the NNCG method has at least the same convergence rate as PGS, and in many cases better.
AB - Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. The contact force problem can be formulated in the form of a nonlinear complementarity problem (NCP), which can be solved using an iterative splitting method, such as the projected Gauss–Seidel (PGS) method. We present a novel method for solving the NCP problem by applying a Fletcher–Reeves type nonlinear nonsmooth conjugate gradient (NNCG) type method. We analyze and present experimental convergence behavior and properties of the new method. Our results show that the NNCG method has at least the same convergence rate as PGS, and in many cases better.
U2 - 10.1007/s00371-010-0502-6
DO - 10.1007/s00371-010-0502-6
M3 - Conference article
VL - 26
SP - 893
EP - 901
JO - Visual Computer
JF - Visual Computer
SN - 0178-2789
IS - 6
ER -
ID: 32148428