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 />
Examples of contact models<br />
What is contact dynamics?<br />
Why contact modelling in robotics?<br />
Types of contact models<br />
f n<br />
kv<br />
Impulse<br />
Momentum<br />
Point<br />
<strong>Contact</strong><br />
Volumetric<br />
<strong>Contact</strong><br />
Finite Element<br />
Methods<br />
Hardwarein-the-loop<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>