Computational modeling of N-body collisions
Feifei Wang, Huan Lin, Yan-Bin Jia
Abstract
This paper presents an impulse-based model for n-body collisions with or without friction. In the frictionless case, impulses at all the contacts, initialized via solution of a non-linear system, accumulate over different phases (compression and restitution) tracked through numerical integration. Experiment over Newton's cradle, using vision-based velocity estimation, achieves a close agreement with simulation. The presence of friction requires a contact mode analysis via solution of a linear system to check for contact mode consistencies with Coulomb's friction law. Simulation of nine-ball break shots, drawing upon a recent trajectory study [6], yields realistic scenarios. The modeling approach is part of our efforts toward planning for robotic manipulation strategies using impulsive forces.
BibTeX
@inproceedings{iros2015_computationalmod,
title = {Computational modeling of N-body collisions},
author = {Feifei Wang and Huan Lin and Yan-Bin Jia},
booktitle = {IROS 2015},
year = {2015}
}