Dynamics of Contact Tasks in Robotics. Part II—Case Study in Dynamics of Contact Motion
The paper discusses some practical problems of contact dynamics. The general model derived in Part 1 of the paper is applied to a particular system. The following cases are studied: robot in contact with a transport cart, task of writing over a surface with friction, and influence of transmission el...
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Published in | Mechanism and machine theory Vol. 34; no. 6; pp. 943 - 972 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
Oxford
Elsevier Ltd
01.08.1999
New York, NY Elsevier |
Subjects | |
Online Access | Get full text |
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Summary: | The paper discusses some practical problems of contact dynamics. The general model derived in Part 1 of the paper is applied to a particular system. The following cases are studied: robot in contact with a transport cart, task of writing over a surface with friction, and influence of transmission elasticity on contact behaviour. In all cases, elastodynamic effects in a contact zone are included in the model. The problem of controlling motion and force is discussed and the simulation results are presented. |
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ISSN: | 0094-114X 1873-3999 |
DOI: | 10.1016/S0094-114X(97)00092-X |