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 />
Modified dynamic equations<br />
2-link planar manipulator<br />
Example simulation<br />
The torques caused by the contact <strong>for</strong>ces must be included with<br />
the driver torques on the left-hand side of the dynamic equations:<br />
Dynamic equations<br />
τ 1 + T c1 = D 1 (q)¨q + C 1 (q, ˙q) ˙q + φ 1 (q)<br />
τ 2 + T c2 = D 2 (q)¨q + C 2 (q, ˙q) ˙q + φ 2 (q)<br />
What are T c1 and T c2 ?<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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