Aiming at a fast and robust simulation of large multibody systems with contacts and friction, this work presents a novel method for solving large cone complementarity problems by means of a fixed-point iteration. The method is an extension of the Gauss-Seidel and Gauss-Jacobi method with overrelaxation for symmetric convex linear complementarity problems. The method is proved to be convergent under fairly standard assumptions and is shown by ourtests to scale well up to 140,000 contact points and 400,000 unknowns.
Citation
Report ANL/MCS-P1413-0507, Argonne national Lab oratory, 9700 S. Cass Ave, Argonne, Illinois, 60439, USA, May, 2007
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View An iterative approach for cone complementarity problems for nonsmooth multibody dynamics