DocumentCode
3179143
Title
The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem
Author
Dupont, Pierre E.
Author_Institution
Boston Univ., MA, USA
fYear
1992
fDate
12-14 May 1992
Firstpage
1442
Abstract
When Coulomb friction is added to rigid-body dynamics equations, the forward dynamic solution may not exist. and if it exists it is not necessarily unique. The author studies the existence and uniqueness properties of the forward solution of these equations. It is shown that existence and uniqueness problems arise even for a single degree-of-freedom system and conditions are derived under which such problems occur. A graphical method which clearly shows the number of solutions associated with each value of input torque is presented. A transmission element is used as an example of such a system
Keywords
classical mechanics of discrete systems; friction; robots; Coulomb friction; forward dynamics problem; rigid-body dynamics equations; transmission element; Aerodynamics; Aerospace engineering; Drives; Equations; Fasteners; Friction; Mechanical engineering; Robot sensing systems; Sufficient conditions; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220148
Filename
220148
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