DocumentCode :
1596878
Title :
Analysis of frictional contact models for dynamic simulation
Author :
Kraus, Peter R. ; Kumar, Vijay ; Dupont, Pierre
Author_Institution :
Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
Volume :
2
fYear :
1998
Firstpage :
976
Abstract :
Simulation of dynamic systems possessing unilateral frictional contacts is important to many industrial applications. While rigid body models are often employed, it is well established that friction can cause problems with the existence and uniqueness of the forward dynamics problem. In these situations, we argue that compliant contact models, while increasing the length of the state vector, successfully resolve these ambiguities. The simplicity and efficiency of rigid body models, however, provide strong motivation for their use during those portions of a simulation when the compliant contact model indicates a unique and stable solution. We use singular perturbation theory in combination with linear complementarity theory to establish conditions for the validity of the rigid body model with rolling and sliding unilateral contacts for planar systems. The results are illustrated with a simple example
Keywords :
dynamics; friction; mechanical contact; mechanical engineering; mechanical stability; perturbation techniques; robots; simulation; compliant contact model; dynamic simulation; forward dynamics; friction; frictional contact models; rigid body model; robotics; rolling contacts; singular perturbation; sliding unilateral contacts; stability; state vector; Aerodynamics; Analytical models; Equations; Jacobian matrices; Legged locomotion; Mechanical systems; Mobile robots; Robot kinematics; Robot sensing systems; Robotic assembly;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
ISSN :
1050-4729
Print_ISBN :
0-7803-4300-X
Type :
conf
DOI :
10.1109/ROBOT.1998.677214
Filename :
677214
Link To Document :
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