By Topic

The kinematics of contact with compliance

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
D. J. Montana ; BBN Syst. & Technol. Corp., Cambridge, MA, USA

The kinematics of contact describes the motion of a point of contact over the surfaces of two contacting objects in response to a relative motion of these objects. In a previous work (Int. of Robotics Res., vol.3, p.17-32, 1988), the author derived equations that embody this relationship when the two objects are assumed to be rigid bodies. In the present work, he extends that analysis by dropping the assumption of rigidity. He derives a set of equations, called the compliant contact equations, which model the kinematics of contact with compliance. He discusses an example that illustrates the effect of compliance on the kinematics of contact. He measures the trajectory of the center of contact on a tactile sensor in response to a known motion and shows how the results fit the proposed model. He analyzes how two tasks that are based on the rigid-body model of the kinematics of contact have been designed to be robust with respect to compliance. For the task of contour-following he provides experimental results that confirm this analysis

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989