Stability of frictional contact in constrained rigid-body dynamics

The use of rigid-body models during frictional contact is often justified by proving the existence of a unique solution to the forward dynamic equations. The implicit assumption here is that the contact forces so obtained are stable. In this paper, the rigid-body assumption is relaxed and body-to-bo...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation 1997-04, Vol.13 (2), p.230-236
Main Authors: Dupont, P.E., Yamajako, S.P.
Format: Article
Language:English
Subjects:
Aerodynamics
Damping
Equations
Friction
Motion planning
Physics
Robotic assembly
Robotics and automation
Robots
Shock absorbers
Springs
Stability analysis
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Summary:The use of rigid-body models during frictional contact is often justified by proving the existence of a unique solution to the forward dynamic equations. The implicit assumption here is that the contact forces so obtained are stable. In this paper, the rigid-body assumption is relaxed and body-to-body contacts are modeled using springs and dampers. A singular perturbation analysis reveals additional necessary conditions to ensure contact force stability in the reduced rigid-body model. Furthermore, the analysis indicates that stability depends on a damping ratio associated with the rigid contacts.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.563645