Skip navigation
Skip navigation

Modeling and Control of Contact Between Contrained Rigid Bodies

Featherstone, Roy


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
Source: IEEE Transactions on Robotics and Automation
DOI: 10.1109/TRA.2003.820930


File Description SizeFormat Image
01_Featherstone_Modeling_and_Control_of_2004.pdf254.91 kBAdobe PDF    Request a copy

Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  23 August 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator