Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots Contact Dynamics Modelling for Robots
Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions Limitations Not useful for prolonged contact Cannot solve for contact or reaction forces May not be very useful in robotic or other multibody systems While simple impulse-momentum models may not be useful, the concept of a coefficient of restitution may still be important in other models. Mike Boos Contact Dynamics Modelling for Robots
Outline Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions Hunt-Crossley contact 1 Introduction What is contact dynamics? Why contact modelling in robotics? Types of contact models 2 Impulse-momentum contact 3 Point contact Hunt-Crossley contact 4 Friction forces 5 Contact in robot dynamics modelling 2-link planar manipulator Example simulation Mike Boos Contact Dynamics Modelling for Robots
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Outline<br />
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 />
Hunt-Crossley contact<br />
1 Introduction<br />
What is contact dynamics?<br />
Why contact modelling in robotics?<br />
Types of contact models<br />
2 Impulse-momentum contact<br />
3 Point contact<br />
Hunt-Crossley contact<br />
4 Friction <strong>for</strong>ces<br />
5 <strong>Contact</strong> in robot dynamics modelling<br />
2-link planar manipulator<br />
Example simulation<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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