Modeling the kinematics and Dynamics of Compliant Contact

Duindam, Vincent and Stramigioli, Stefano (2003) Modeling the kinematics and Dynamics of Compliant Contact. In: IEEE International Conference on Robotics and Automation, ICRA, September 14-19, 2003, Taipei, Taiwan.

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Abstract:	In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on each other. Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bodies, using a spatial spring and a damper to model energy stored and dissipated during contact.
Item Type:	Conference or Workshop Item
Copyright:	© 2003 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/45543
Official URL:	http://dx.doi.org/10.1109/ROBOT.2003.1242216
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