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 />
Including contact <strong>for</strong>ces<br />
2-link planar manipulator<br />
Example simulation<br />
F<br />
y<br />
<strong>Contact</strong> <strong>for</strong>ces<br />
F = N + F f<br />
Cannot include contact <strong>for</strong>ces<br />
in Lagrangian, since they are<br />
non-conservative (damping and<br />
friction).<br />
x<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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