Dynamics of contact tasks in robotics. Part I: general model of robot interacting with environment

Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems are brought into contact and the relevant dynamic effects analysed. The effects are: rigid-body-contact force, elastodynamics in contact zone, friction in contact points, elastic deformation in to...

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Bibliographic Details
Published inMechanism and machine theory Vol. 34; no. 6; pp. 923 - 942
Main Authors Vukobratović, Miomir K., Potkonjak, Veljko
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:Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems are brought into contact and the relevant dynamic effects analysed. The effects are: rigid-body-contact force, elastodynamics in contact zone, friction in contact points, elastic deformation in torque transmission, impact, etc. The general model is then applied to some more concrete problems in order to discuss some effects in detail. The control strategy is considered for each concrete problem and the simulation results are presented. The work is organized in two parts dedicated to first the general model, and second model application and simulation.
ISSN:0094-114X
1873-3999
DOI:10.1016/S0094-114X(97)00091-8