System Theoretical Framework to Study Unilaterally Constrained Mechanical Systems

摘要

The aim of this paper is to study, in a system theoretical framework, the contact211u001eproblem for mechanical systems subject to unilateral constraints. Contrary to 211u001ewhat is usually done in studies on this subject, the authors first investigate 211u001ewhat can be deduced already from the mathematical models of the unconstrained 211u001emechanical system and the constraint set. It is only after this analysis that the 211u001eauthors incorporate the physics of contact in their framework. This sequence of 211u001esteps leads to important insights to the contact itself, and to useful 211u001ethoeretical findings with respect to modeling and control of impact.