DocumentCode
2327607
Title
Jamming and wedging in constrained rigid-body dynamics
Author
Dupont, Pierre E. ; Yamajako, Serge P.
Author_Institution
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
fYear
1994
fDate
8-13 May 1994
Firstpage
2349
Abstract
It is well known that the introduction of Coulomb friction in rigid-body dynamics can lead to problems of existence and uniqueness in the forward equations. In this paper, it is shown that these problems relate to jamming and wedging. Separate conditions for jamming and wedging are provided in the three common formulations of constrained systems. These conditions are illustrated with examples
Keywords
robot dynamics; sliding friction; Coulomb friction; constrained rigid-body dynamics; jamming; uniqueness; wedging; Acceleration; Aerodynamics; Aerospace engineering; Equations; Fasteners; Friction; Jamming; Manipulator dynamics; Mechanical engineering; Robotic assembly;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.350935
Filename
350935
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