Abstract
The problem of sensitivity analyses for mechanical systems with unilateral constraints is considered. The problem is formulated as one of computing the derivative, with respect to the vector of parameters, of a functional characterizing the motion. To compute the derivative, the adjoint variable approach is extended to systems with unilateral constraints. The set of active constraints may change in the course of the motion, with or without impact. Jump conditions for the adjoint variables are indicated for the times at which changes occur in the set of active constraints. As an example, a mechanical system whose motion is constrained by an absolutely elastic stop is considered.
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