A framework for data exchange and benchmarking of frictional contact solvers in multibody dynamics

• We present an HDF5 layout specification to store and exchange the run-time kinematic data of simulations of contacting multibody systems subject to dry friction in descriptor form. This is intended to be used to test solvers on the incremental problem defined by one single configuration, allowing any mathematical formulation and friction law, and compatible with any numerical method. We also introduce metrics to measure the quality of a solution comprehensively, separating the errors from the different aspects of a given friction law. We started a public web site with a collection of problems, from simple stacking to full vehicle dynamics as well as grasping robots. We provide software to manipulate the data contained in the HDF5 files, assemble matrices needed for different formulations, and to interface with existing solvers. We also provide software to compute our metrics and generate plots which provide a global picture of performance and accuracy. As this is written in MATLAB and OCTAVE we believe our contributions will allow anyone wanting to write or test a solver to work with "real life" examples without any difficulty, and concentrate on the numerical methods themselves, and get results before writing a code suitable for integration with a full featured software package.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Benchmark

Complementarity

Contact mechanics

Data representation

Friction

Multibody dynamics

Solvers

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)