Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
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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 />
Hunt-Crossley contact<br />
<strong>Contact</strong> <strong>for</strong>ces modelled with a spring in parallel with a non-linear<br />
damper:<br />
N = K(δ) + B( ˙δ, δ)<br />
= kδ 3/2 + (λδ 2/3 ) ˙δ<br />
Consistent with Hertzian contact in the static case (i.e. ˙δ = 0)<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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