Instantaneous Robot Motion with Contact Between Surfaces
Abstract
This research analyzes, the motion constraints needed to maintain direct contact between two rigid bodies, when one or both bodies are being moved under computer control. The author first studies the time-based instantaneous contact kinematics, then develops a control formulation and specifications within the AL robot language for moving so as to maintain the desired contact. Also studied is the impact which results when bodies are moved into direct contact. These studies on robot motion with direct contact between bodies are useful for robot motion planning and control. The author studies the instantaneous contact kinematics, under planar and spatial motion, of a moving object with point or line contact between surfaces. In particular, the velocity, acceleration and jerk of the instantaneous contact point, and the constraints on the angular velocity and angular acceleration for line contact have been obtained as functions of surface geometries and the rigid body motions under contact. These results have bee specialized for the study of the special motions of pure rolling and pure sliding, and for the contact geometries where contact occurs on a sharp edge or a plane. They have also been used to study bodies moving with multiple contacts.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1988
- Accession Number
- ADA198709
Entities
People
- Chunsheng Cai
Organizations
- Stanford University