Simulation of rigid-body impact using the articulated-body algorithm

This paper presents a numerical algorithm to model the impact between articulated structures, or between an articulated structure and an object. The proposed algorithm, called impulse articulated-body algorithm (IABA), is based on the ABA but uses impulses and velocities rather than forces and accelerations. The algorithm also inherits the advantages of the ABA: versatility and low computational cost. The IABA provides a method to determine the impact impulse, without increasing the order of the algorithm.