Modeling the kinematics and Dynamics of Compliant Contact

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    Abstract

    In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on each other. Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bodies, using a spatial spring and a damper to model energy stored and dissipated during contact.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE ICRA 2003
    Place of PublicationTaipei, Taiwan
    PublisherIEEE
    Pages4029-4034
    Number of pages6
    ISBN (Print)0-7803-7737-0
    DOIs
    Publication statusPublished - 14 Sept 2003
    Event2003 IEEE International Conference on Robotics and Automation, ICRA 2003 - Taipei, Taiwan
    Duration: 14 Sept 200319 Sept 2003

    Publication series

    Name
    PublisherIEEE
    Volume3

    Conference

    Conference2003 IEEE International Conference on Robotics and Automation, ICRA 2003
    Abbreviated titleICRA
    Country/TerritoryTaiwan
    CityTaipei
    Period14/09/0319/09/03

    Keywords

    • METIS-212550
    • IR-45543

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