Dynamics of contact tasks in robotics Part II-case study in dynamics of contact motion

摘要

The paper discusses some practical problems of contact dynamics. The general model derived in Part 1 of the paper is applied to a particular system. The following cases are studied: robot in contact with a transport cart, task of writing over asurface with friction, and influence of transmission elasticity on contact behaviour. In all cases, elastodynamic effects in a contact zone are included in the model. The problem of controlling motion and force is discussed and the simulation results arepresented.