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
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350935
