Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
Link 2<br />
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 />
Example simulation<br />
r2<br />
F<br />
Consider link 2 and the contact<br />
<strong>for</strong>ces independently from the<br />
original system and its <strong>for</strong>ces.<br />
There is an additional reaction<br />
at P from link 1.<br />
-F<br />
P<br />
T c2 = r 2 × F<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
Change language