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 />
N = kδ 3/2<br />
Two spheres:<br />
k =<br />
4<br />
3π(h m,1 +h m,2 ) ( R 1R 2<br />
R 1 +R 2<br />
) 1/2<br />
Sphere on plane:<br />
k =<br />
4<br />
3π(h m,1 +h m,2 ) R1/2<br />
Ri<br />
δ<br />
N<br />
δ<br />
h m,i = 1−ν2 i<br />
πE i<br />
Rj<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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