A linear complementarity algorithm for rigid body impact with friction

In this paper an algorithm for the impact of rigid bodies against rigid obstacles is developed. Starting from a normal contact law, Coulomb's law of friction, the equations of motion and a simple discretization scheme, a linear complementarity problem (LCP) is formulated and used to compute the post-impact velocities. The predictions of the algorithm is compared to an experiment, designed such that the tangential impulses at impact are important, with encouraging results. (C) Elsevier, Paris.