Modeling and Control of Contact Between Contrained Rigid Bodies
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]
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|Source:||IEEE Transactions on Robotics and Automation|
|01_Featherstone_Modeling_and_Control_of_2004.pdf||254.91 kB||Adobe PDF||Request a copy|
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