A Differential Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations

Figure 6

Example I: a rolling sphere with collision and slip. In the simulation, the parameters are chosen as 𝑀=1 kg, 𝑅=0.5 m, and 𝜇=0.1 and the initial conditions are 𝑝̇=[5.5,0,0]^𝑇 m/s, 𝑝=[0,0,2𝑅]^𝑇, and 𝜔=[0,0,0]^𝑇 rad/s.