DocumentCode
32426
Title
A New Nonlinear Model of Contact Normal Force
Author
Azad, Mohammad ; Featherstone, Roy
Author_Institution
Sch. of Eng., Australian Nat. Univ., Canberra, ACT, Australia
Volume
30
Issue
3
fYear
2014
fDate
Jun-14
Firstpage
736
Lastpage
739
Abstract
This paper presents a new nonlinear model of the normal force that arises during compliant contact between two spheres, or between a sphere and a flat plate. It differs from a well-known existing model by only a single term. The advantage of the new model is that it accurately predicts the measured values of the coefficient of restitution between spheres and plates of various materials, whereas other models do not.
Keywords
nonlinear control systems; robots; compliant contact; contact normal force; nonlinear model; Computational modeling; Data models; Force; Materials; Mathematical model; Predictive models; Robots; Animation and simulation; compliant contact model; nonlinear damping; normal force;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2013.2293833
Filename
6689296
Link To Document