Multiple Impacts: A State Transition Diagram Approach

Yan-Bin Jia, Matthew T. Mason and Michael Erdmann
Journal Article, International Journal of Robotics Research, Vol. 32, No. 1, pp. 84-114, January, 2013

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Impact happens when two or more bodies collide, generating very large impulsive forces in a very short period of time during which kinetic energy is first absorbed and then released after some loss. This paper introduces a state transition diagram to model a frictionless multibody collision. Each state describes a different topology of the collision characterized by the set of instantaneously active contacts. A change of state happens when a contact disappears at the end of restitution, or when a disappeared contact reappears as the relative motion of two bodies goes from separation into penetration. Within a state, (normal) impulses are coupled differentially subject to relative stiffnesses at the active contact points and the strain energies stored there. Such coupling may cause restart of compression from restitution during a single impact. Impulses grow along a bounded curve with first-order continuity, and converge during the state transitions. To solve a multibody collision problem with friction and tangential compliance, the above impact model is integrated with a compliant impact model. The paper compares model predictions to a physical experiment for the massé shot, which is a difficult trick in billiards, with a good result.

author = {Yan-Bin Jia and Matthew T. Mason and Michael Erdmann},
title = {Multiple Impacts: A State Transition Diagram Approach},
journal = {International Journal of Robotics Research},
year = {2013},
month = {January},
volume = {32},
number = {1},
pages = {84-114},
} 2019-06-27T13:10:38-04:00