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 />
Impulse-momentum<br />
vB<br />
y - plane of<br />
impact<br />
Conservation of Momentum<br />
m A (v Ay ) 1 = m A (v Ay ) 2<br />
m B (v By ) 1 = m B (v By ) 2<br />
m i (v ix ) 1 = ∑ m i (v ix ) 2<br />
i<br />
∑<br />
i<br />
vA<br />
x<br />
Mike Boos<br />
<strong>Contact</strong> <strong>Dynamics</strong> <strong>Modelling</strong> <strong>for</strong> <strong>Robots</strong>
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