A class of dynamic systems consisting of constrained planar rigid bodies is considered. This class of environments poses two significant challenges to the development of advanced kinesthetic interfaces. First, the environment structure changes dynamically due to collisions between bodies. Thus, the equations of motion must be formulated and solved in real-time. Second, the equations are necessarily stiff due to rigid constraints in the system. Thus, real-time simulation requires extremely high update rates to be stable and present the operator with a realistic "feel". >
['Michael C. Stanley', 'J.E. Colgate']
Real time simulation of stiff dynamic systems via distributed memory parallel processors