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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Bibliographic Details
Published inMechanism and machine theory Vol. 34; no. 6; pp. 943 - 972
Main Authors Veljko, Potkonjak, Vukobratović, Miomir K., Matijević, Vladimir
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.08.1999
New York, NY Elsevier
Subjects
Applied sciences
Drives
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Linkage mechanisms, cams
Mechanical engineering. Machine design
Physics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Rigid bodies
Dynamic contact
Vibration
Friction
Linkage mechanism
N body system
Dynamical system
Modeling
Deformable body
Robotics
Mechanical shock
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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.
ISSN:0094-114X
1873-3999
DOI:10.1016/S0094-114X(97)00092-X