Computational Optimization and Applications

, Volume 47, Issue 2, pp 207–235 | Cite as

An iterative approach for cone complementarity problems for nonsmooth dynamics

Article

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 our tests to scale well up to 500,000 contact points and more than two millions of unknowns.

Keywords

Iterative methods Cone complementarity problems LCP Complementarity Contacts Multibody 

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Copyright information

© US Government 2008

Authors and Affiliations

  1. 1.Mathematics and Computer Science DivisionArgonne National LaboratoryArgonneUSA
  2. 2.Dipartimento di Ingegneria IndustrialeUniversità degli Studi di ParmaParmaItaly

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