Real-time simulation of non-smooth contacts in telepresence and teleaction applications

The paper deals with a rigid, non-smooth modelling of contacts applied for real-time problems. The use of a time-stepping scheme for time-integration of the equations of motion permits an efficient computation of constrained motions, sticking-sliding transitions and impacts. Special care has to be taken for a flexible binding of these algorithms to mechatronic systems in teleaction and telepresence applications. A hierarchical class library for contact models and their associated algorithms is presented. Therein the non-smooth modelling forms an important branch.