Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
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Hertz theory<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 />
Assumptions:<br />
Non-con<strong>for</strong>ming surfaces<br />
<strong>Contact</strong> patch is small relative to the geometries of the bodies<br />
Bodies are linear-elastic solids<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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