Dynamics of contact tasks in robotics. part I: general model of robot interacting with environment

摘要

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 problemand the simulation results are presented. The work is organized in two parts dedicated to first the general model. and second model application and simulation.