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Dynamics of contact tasks in robotics. I: General model of robot interacting with environment. (English) Zbl 1049.70623
Summary: Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems are brought into contact and the relevant dynamic effects analysed. The effects are: rigid-body-contact force, elastodynamics in contact zone, friction in contact points, elastic deformation in torque transmission, impact, etc. The general model is then applied to some more concrete problems in order to discuss some effects in detail. The control strategy is considered for each concrete problem and the simulation results are presented. The work is organized in two parts dedicated to first the general model, and second model application and simulation.

MSC:
70E60Robot dynamics and control (dynamics of a rigid body and of multibody systems)