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Modeling and Control of Contact Between Contrained Rigid Bodies

Featherstone, Roy

Description

This paper examines the phenomenon of frictionless contact between rigid bodies that are already subject to kinematic constraints from some other source. Such contacts occur frequently when robots interact with their environments, in which case, the additional constraints come from the robot mechanisms. A proper analysis of these contacts must consider both sets of constraints. This paper presents a general model of constrained-body contact, expressed in invariant terms; a method of resolving...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Journal article
URI: http://hdl.handle.net/1885/78188
Source: IEEE Transactions on Robotics and Automation
DOI: 10.1109/TRA.2003.820930

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