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Stability of frictional contact in constrained rigid-body dynamics

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2 Author(s)
P. E. Dupont ; Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA ; S. P. Yamajako

The use of rigid-body models during frictional contact is often justified by proving the existence of a unique solution to the forward dynamic equations. The implicit assumption here is that the contact forces so obtained are stable. In this paper, the rigid-body assumption is relaxed and body-to-body contacts are modeled using springs and dampers. A singular perturbation analysis reveals additional necessary conditions to ensure contact force stability in the reduced rigid-body model. Furthermore, the analysis indicates that stability depends on a damping ratio associated with the rigid contacts

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IEEE Transactions on Robotics and Automation  (Volume:13 ,  Issue: 2 )