Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
Contact Dynamics Modelling for Robots
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Link 1<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 />
-F<br />
O<br />
r1<br />
F<br />
Tc2 = r2 x F<br />
Now consider link 1.<br />
We have the reaction at P<br />
from link 2, as well as the<br />
torque from link 2.<br />
T c1 = r 1 × F + T c2<br />
= (r 1 + r 2 ) × F<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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