A robot coming into any colltact with its environment generates in the sense of mechanics some unilateral constraiats, which - due to its unilaterality - might be dissolved again depending on the surrounding dynamics. The laws governing such sit- uations must consider the typical complementary behavior of coatacts which means, that either relative kinematics of a coatact is zero and thus constraiat fOrces are not zero or vice versa. Constraint forces are normal forces and tangential frictiona1 forces. Imbedded into the framework of robot dynamics and control we get equations of mo- tion with time-varying topology Applications illustrate the theory
展开▼
