This work reviews the main techniques to model dynamical systems with contact-impact
events. Regularized and non-smooth formulations are considered, wherein the fundamental …

The LuGre friction force models are amongst the most popular and powerful approaches to
treat frictional contact in modeling, simulation and control of mechanical systems. However …

The main purpose of this paper is to present a modeling method and algorithm for point
contact non-smooth multibody system based on the 2D LuGre friction model. Firstly …

The objective of this paper is to propose a novel approximate solution for determining the
reactions of joints in mechanical systems, which involves the influence of Coulomb friction. It …

This paper presents an efficient adjoint-based technique to numerically solve optimal control
problems arising in holonomically-constrained multibody systems found in eg many robotic …

This article considers the iterative approach for finding the Moore–Penrose inverse of a
matrix. A convergence analysis is presented under certain conditions, demonstrating that the …

Friction bounds the lower performance in control applications. Effective product modeling of
controlling mechanisms and capturing the nonlinearity imposed by friction always attract the …

The paper concerns the study of the quadratic b-spline curve application for the regime of
pre-sliding displacements in the GMS friction hysteresis model approximation. The impact of …

This paper presents a Lagrangian approach to simulating multibody dynamics in a
tensegrity framework with an ability to tackle holonomic constraint violations in an energy …

The article introduces a novel class of 4R1H mechanisms, where 4R indicates four revolute
joints and 1H indicates one helical joint. The paper starts with the type synthesis of these …