P. Kraus, V. Kumar, and P. Dupont. Analysis of frictional contact models for dynamic simulation. In Proc. of the 1998 IEEE Int'l Conf. on Robotics and Automation, volume 1, pages 976--981, May 1998.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....the control system has to be flexible enough, to cope with various disturbances, e.g. joint friction, tool friction, uncertain model parameters. We developed an adaptive force control for industrial tasks [3, 4, 5] like deburring, chamfering, or robotic based thermoplastic fibre placement [6, 7], where normal desired forces have to be exerted on unknown shaped surfaces and friction effects due to slow movements or high contact forces are urgent problems. Coulomb friction is uncertain and can vary significantly with load wear and temperature[8] To get better performance in force and ....

P. Kraus, V. Kumart, and P. Dupont, "Analysis of frictional contact models for dynamic simulation," in IEEE Proc. International Conference on Robotics and Automation, Leuven (Belgium), pp. 976--981, 1998.

....comes from the fact that the non contact solutions (free falling) are always stable. 5.2 Rolling contact The rigid body dynamics can once again be formulated as an LCP with the help of surplus and slack variables, but is a little more involved. Instead of redoing it here, we refer the reader to [19, 30] The singular perturbation analysis proceeds in exactly the same way as in the previous subsection. Partition the generalized coordinates by letting q 1 = y x ; q 2 = p 1 = Phi N Phi T ; and p 2 = q 2 The correspondent diagonal scale matrices are defined as D 1 = d 1 0 0 ....

....during sliding. Since the LCP and singular perturbation analyses for sliding both included this dependence, it was possible in Theorem 5.1 to relate the LCP existence and uniqueness results to the singular perturbation stability result. 16 Our previous work with the LCP for a rolling contact [19] demonstrated three possible solutions: a) breaking contact; b) continued rolling; and (c) transition to sliding. The conditions of Theorem 4.1 for use of the rigid body model include continuity and differentiability of the tangential contact forces. These conditions are not met during (a) or ....

P. Kraus, V. Kumar, and P. Dupont. Analysis of frictional contact models for dynamic simulation. In Proc. of the 1998 IEEE Int'l Conf. on Robotics and Automation, volume 1, pages 976--981, May 1998.

....use the rigid body model since the stability analysis shows a unique stable solution. 5.2 Rolling contact The rigid body dynamics can once again be formulated as an LCP with the help of surplus and slack variables, but is a little more involved. Instead of redoing it here, we refer the reader to [19, 30] The singular perturbation analysis proceeds in exactly the same way as in the previous subsection. Partition the generalized coordinates by letting q 1 = y x ; q 2 = p 1 = Phi N Phi T ; and p 2 = q 2 The correspondent diagonal scale matrices are defined as D 1 = d 1 0 0 ....

....during sliding. Since the LCP and singular perturbation analyses for sliding both included this dependence, it was possible in Theorem 5.1 to relate the LCP existence and uniqueness results to the singular perturbation stability result. Our previous work with the LCP for a rolling contact [19] demonstrated three possible solutions: a) breaking contact; b) continued rolling; and (c) transition to sliding. The conditions of Theorem 4.1 for use of the rigid body model include continuity and differentiability of the tangential contact forces. These conditions are not met during (a) or ....

P. Kraus, V. Kumar, and P. Dupont. Analysis of frictional contact models for dynamic simulation. In Proc. of the 1998 IEEE Int'l Conf. on Robotics and Automation, volume 1, pages 976--981, May 1998.

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