On integrating stiff multibody dynamics with contact and friction

We present a complementarity-based time-stepping method for rigid multibody systems with contact and friction that accomodates stiffness through a linear implicit technique. The method is consistent whenever the stiff forces originate in springs and dampers. When the stiffness parameters increase towards infinity the subproblem to be solved in one step approaches the one where the stiff elements are replaced by joints, under the assumption that the friction cone of the limit system is pointed.