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
- Page 1 and 2: Introduction Impulse-momentum conta
- Page 3 and 4: Outline Introduction Impulse-moment
- Page 5 and 6: Introduction Impulse-momentum conta
- Page 7 and 8: Outline Introduction Impulse-moment
- Page 9 and 10: Introduction Impulse-momentum conta
- Page 11 and 12: Introduction Impulse-momentum conta
- Page 13 and 14: Outline Introduction Impulse-moment
- Page 15 and 16: Hertz theory Introduction Impulse-m
- Page 17 and 18: Introduction Impulse-momentum conta
- Page 19 and 20: Introduction Impulse-momentum conta
- Page 21 and 22: Introduction Impulse-momentum conta
- Page 23: Outline Introduction Impulse-moment
- Page 27 and 28: Introduction Impulse-momentum conta
- Page 29 and 30: Link 1 Introduction Impulse-momentu
- Page 31 and 32: Introduction Impulse-momentum conta
- Page 33 and 34: Introduction Impulse-momentum conta
- Page 35: Introduction Impulse-momentum conta
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 />
What happens to the dynamic equations with contact?<br />
y<br />
x<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
Change language