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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>

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