Collision Handling for the Modelica MultiBody Library
Martin Otter, Hilding Elmqvist, José Díaz López · elib (German Aerospace Center) · 2005
The Modelica MultiBody library is extended with collision handling. It is demonstrated how to use this new feature. Different implementations are explained based on parametric surfaces, on surfaces described by algebraic constraints, and on surface descriptions by primitives and triangles using the collision package SOLID 3.5. Furthermore, the response calculation by a resultant contact force and torque is discussed.