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A unified method for multi-body systems subject to stick-slip friction and intermittent contact

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4 Author(s)
A. D. Perkins ; Department of Mechanical Engineering, Stanford University, CA 94305, USA ; M. E. Abdallah ; P. Mitiguy ; K. J. Waldron

Simulations of objects whose interaction change due to intermittent contact, collision, sticking or slipping traditionally employ mathematical models of the system in each topology. Usually these simulations rely on a tedious process of deriving separate dynamical equations for each topology and sophisticated switching logic to select the appropriate model. We introduce a unified method which requires deriving only a single set of equations and simple switching.

Published in:

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

22-26 Sept. 2008