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An iterative approach for cone complementarity problems for nonsmooth multibody dynamics

Mihai Anitescu(anitescu***at***mcs.anl.gov)
Alessandro Tasora(tasora***at***ied.unipr.it)

Abstract: 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.

Keywords: Iterative methods; cone complementarity problems; lcp; complementarity ; contacts; multibody

Category 1: Complementarity and Variational Inequalities

Category 2: Applications -- Science and Engineering (Mechanical Engineering )

Category 3: Convex and Nonsmooth Optimization (Convex Optimization )

Citation: Report ANL/MCS-P1413-0507, Argonne national Lab oratory, 9700 S. Cass Ave, Argonne, Illinois, 60439, USA, May, 2007

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Entry Submitted: 06/14/2007
Entry Accepted: 06/15/2007
Entry Last Modified: 06/14/2007

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