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Dynamics solution for contact state transition of multi-rigid-body manipulation systems based on the linear complementarity problem

机译:基于线性互补问题的多刚体操纵系统接触状态转变动力学解决方案

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摘要

The dynamics solution for contact state transition of three-dimensional multi-rigid body manipulation systems with Coulomb friction is proposed. A linear complementarity problem method is applied to obtain governing equations for the dynamics model of the multi-rigid body manipulation systems. The conditions under which the multi-rigid body manipulation systems are static determinancy are derived. Algorithms for solving these problems using Lemke's algorithm are shown. With an illustrating numerical example, the effectiveness of the computational scheme is verified and the contact state transitions for friction coefficients and joint torques are discussed.
机译:提出了具有库仑摩擦的三维多刚体操纵系统接触状态转变的动力学解决方案。应用线性互补问题方法来获得多刚体操纵系统动力学模型的控制方程。得出多刚体操纵系统为静态确定性的条件。显示了使用Lemke算法解决这些问题的算法。通过一个示例性的数值示例,验证了该计算方案的有效性,并讨论了摩擦系数和关节扭矩的接触状态转换。

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