Rigid body dynamics with unilateral constraints, collisions and Coulomb friction has been the subject of investigation and controversy for the past century, due to the failure to obtain solutions in certain situations. Recent extensions to the theory of ordinary differential equations, notably J.J Moreau’s measure differential equations can be used to give a clearer idea of the issues in these problems. Novel numerical methods have had to be developed to solve these problems, and to prove the convergence of the numerical trajectories to solutions of the true rigid body problem.
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