Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
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Point contact<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 />
Common model:<br />
spring-damper system<br />
N = K(δ) + B( ˙δ)<br />
Often, the relationship between<br />
penetration and normal <strong>for</strong>ce is<br />
non-linear (even with<br />
linear-elastic solids)<br />
δ<br />
N<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>