Contact modes and complementary cones

Contact modes and complementary cones

In this paper, we use a linear complementarity problem (LCP) formulation of rigid body dynamics with unilateral contacts to obtain definitions for contact modes. We show how the complementary cones of the LCP correspond to each of the intuitive contact modes: slide right, slide left, roll and separa...

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Bibliographische Detailangaben
Hauptverfasser: Berard, S., Egan, K., Trinkle, J.C.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Acceleration
Applied sciences
Computer science
Computer science
control theory
systems
Control theory. Systems
Differential equations
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Jacobian matrices
Kinematics
Mathematical model
Physics
Robots
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
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Beschreibung
Zusammenfassung:In this paper, we use a linear complementarity problem (LCP) formulation of rigid body dynamics with unilateral contacts to obtain definitions for contact modes. We show how the complementary cones of the LCP correspond to each of the intuitive contact modes: slide right, slide left, roll and separate. These complementary cones allow us to make rigorous definitions for contact modes in three-dimensional systems, where our intuitive understanding fails.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1302556