Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
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Introduction<br />
Impulse-momentum contact<br />
Point contact<br />
Friction <strong>for</strong>ces<br />
<strong>Contact</strong> in robot dynamics modelling<br />
Conclusions<br />
Coefficient of restitution<br />
vB<br />
y - plane of<br />
impact<br />
Need a second equation to<br />
solve <strong>for</strong> x-velocities<br />
Energy is lost in impact<br />
vA<br />
x<br />
e = (v Ax −v Bx ) 2<br />
(v Bx −v Ax ) 1<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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