Enhanced Second-order Implicit Constraint Enforcement for Dynamic Simulations

• Min Hong,
• Samuel W. J. Welch,
• Sunhwa Jung,
• Min-Hyung Choi,
• Doo-Soon Park,

Vol. 2, No. 1, February 24, 2008
10.3837/tiis.2008.01.004, Download Paper (Free):

• Implicit constraint enforcement
• dynamics simulation
• geometric constraint
• Physically-based simulation

Abstract

This paper proposes a second-order implicit constraint enforcement method which yields enhanced controllability compared to a first-order implicit constraints enforcement method. Although the proposed method requires solving a linear system twice, it yields superior accuracy from the constraints error perspective and guarantees the precise and natural movement of objects, in contrast to the first-order method. Thus, the proposed method is the most suitable for exact prediction simulations. This paper describes the numerical formulation of second-order implicit constraints enforcement. To prove its superiority, the proposed method is compared with the firstorder method using a simple two-link simulation. In this paper, there is a reasonable discussion about the comparison of constraints error and the analysis of dynamic behavior using kinetic energy and potential energy.

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