PD-IP – A Numerical Method for Computing Frictional Contact Forces of Large Multibody Systems

A Primal-Dual Interior Point (PD-IP) method is investigated for solving the Cone Complementarity Problem (CCP) associated with friction and contact of many body dynamics formulated by the framework of differential variational inequality (DVI). As a second order method, it exhibits significantly faster convergence rate than traditional first order method, such as Gauss-Siedel, Jacobi or Accelerated Projected Gradient Descent (APGD), and calls for a smaller number of iterations. Essentially, this method finds the optimal solution by solving a sequence of large linear systems of equations. The ongoing work focus on solving this series of equations efficiently, either using an iterative solver, or a direct one.

Contributors: Luning Fang and Dan Negrut