Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots Contact Dynamics Modelling for Robots
Outline Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions 1 Introduction What is contact dynamics? Why contact modelling in robotics? Types of contact models 2 Impulse-momentum contact 3 Point contact Hunt-Crossley contact 4 Friction forces 5 Contact in robot dynamics modelling 2-link planar manipulator Example simulation Mike Boos Contact Dynamics Modelling for Robots
Outline Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions What is contact dynamics? Why contact modelling in robotics? Types of contact models 1 Introduction What is contact dynamics? Why contact modelling in robotics? Types of contact models 2 Impulse-momentum contact 3 Point contact Hunt-Crossley contact 4 Friction forces 5 Contact in robot dynamics modelling 2-link planar manipulator Example simulation Mike Boos Contact Dynamics Modelling for Robots
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Outline<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 />
1 Introduction<br />
What is contact dynamics?<br />
Why contact modelling in robotics?<br />
Types of contact models<br />
2 Impulse-momentum contact<br />
3 Point contact<br />
Hunt-Crossley contact<br />
4 Friction <strong>for</strong>ces<br />
5 <strong>Contact</strong> in robot dynamics modelling<br />
2-link planar manipulator<br />
Example simulation<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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