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Semi-analytic method of contact modelling

Authors
Publisher
IEEE
Publication Date
Source
Legacy
Keywords
  • 080101 Adaptive Agents And Intelligent Robotics
  • Differential Equation
  • Force Control
  • Humanoid Robots
  • Mechsnical Contact
  • Robot Kinematics
  • Shock Absorbers
  • Springs (Mechanical)
  • Stability
  • Vibration Control
Disciplines
  • Computer Science
  • Mathematics

Abstract

An algorithm to improve the accuracy and stability of rigid-body contact force calculation is presented. The algorithm uses a combination of analytic solutions and numerical methods to solve a spring-damper differential equation typical of a contact model. The solution method employs the recently proposed patch method, which especially suits the spring-damper differential equations. The resulting semi-analytic solution reduces the stiffness of the differential equations, while performing faster than conventional alternatives.

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