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 />
Coulomb friction<br />
Static<br />
F f ≤ −µ S Nû<br />
where û is in the direction of<br />
other <strong>for</strong>ces in the plane of<br />
contact.<br />
c<br />
vcn<br />
Dynamic<br />
F f = −µ k Nˆv ct<br />
Ff<br />
N<br />
vct<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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