{"paper":{"title":"Discussion of the Gear-Gupta-Leimkuhler method for impacting mechanical systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.NA","authors_text":"Heinz Ulbrich, Svenja Schoeder, Thorsten Schindler","submitted_at":"2015-06-05T10:10:22Z","abstract_excerpt":"In multibody simulation, the Gear-Gupta-Leimkuhler method for only persistent contacts enforces constraints on position and velocity level at the same time. It yields a robust numerical discretization of differential algebraic equations avoiding the drift-off effect. In this work, we carry over these benefits to impacting mechanical systems with unilateral constraints. For this kind of a mechanical system, adding the position level constraint to a timestepping scheme on velocity level even maintains physical consistency of the impulsive discretization. Hence, we propose a timestepping scheme b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1506.01849","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}