Referenced Items are not available for this document.
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
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:13
,
Issue:
2
)
Date of Publication: Apr 1997
- Page(s):
- 230 - 236
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 5550128
- Digital Object Identifier :
- 10.1109/70.563645
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Apr 1997
- Sponsored by :
- IEEE Robotics and Automation Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
