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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)
Perkins, A.D. ; Dept. of Mech. Eng., Stanford Univ., Stanford, CA ; Abdallah, M.E. ; Mitiguy, P. ; Waldron, K.J.

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:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008