Abstract
AbstractCoulomb friction problems can be stated as quasi‐variational inequalities. These are variational expressions of certain non‐smooth pseudo‐potentials which have to be minimized in the sense of a two‐person non‐cooperative constrained game, consisting of the normal and the tangential player. In this paper we show that spatial Coulomb friction applied to the rolling contact problem in rigid body dynamics may be formulated as a nonlinear complementarity problem in standard form, i.e. as 0 ≤ x f(x) ≥ 0 with continuous and differentiable x → f(x).
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