Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots Contact Dynamics Modelling for Robots
Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions 2-link planar manipulator 2-link planar manipulator Example simulation y q2 Dynamic equations τ 1 = D 1 (q)¨q+C 1 (q, ˙q) ˙q+φ 1 (q) τ 2 = D 2 (q)¨q+C 2 (q, ˙q) ˙q+φ 2 (q) q1 x Mike Boos Contact Dynamics Modelling for Robots
Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions 2-link planar manipulator 2-link planar manipulator Example simulation What happens to the dynamic equations with contact? y x Mike Boos 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 />
2-link planar manipulator<br />
2-link planar manipulator<br />
Example simulation<br />
y<br />
q2<br />
Dynamic equations<br />
τ 1 = D 1 (q)¨q+C 1 (q, ˙q) ˙q+φ 1 (q)<br />
τ 2 = D 2 (q)¨q+C 2 (q, ˙q) ˙q+φ 2 (q)<br />
q1<br />
x<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>