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 What is contact dynamics? What is contact dynamics? Why contact modelling in robotics? Types of contact models Ff N Mike Boos Contact Dynamics Modelling for Robots
Introduction Impulse-momentum contact Point contact Friction forces Contact in robot dynamics modelling Conclusions Why model contact in robotics? What is contact dynamics? Why contact modelling in robotics? Types of contact models Haptics Interactions with the environment Intentional (gripping, part placement, etc) Unintentional (collisions) Control and stability Mike Boos 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 />
What is contact dynamics?<br />
What is contact dynamics?<br />
Why contact modelling in robotics?<br />
Types of contact models<br />
Ff<br />
N<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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