Jamming and wedging in constrained rigid-body dynamics

It is well known that the introduction of Coulomb friction in rigid-body dynamics can lead to problems of existence and uniqueness in the forward equations. In this paper, it is shown that these problems relate to jamming and wedging. Separate conditions for jamming and wedging are provided in the t...

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Bibliographic Details
Main Authors: Dupont, P.E., Yamajako, S.P.
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Aerodynamics
Aerospace engineering
Equations
Fasteners
Friction
Jamming
Manipulator dynamics
Mechanical engineering
Robotic assembly
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Summary:It is well known that the introduction of Coulomb friction in rigid-body dynamics can lead to problems of existence and uniqueness in the forward equations. In this paper, it is shown that these problems relate to jamming and wedging. Separate conditions for jamming and wedging are provided in the three common formulations of constrained systems. These conditions are illustrated with examples.< >
DOI:10.1109/ROBOT.1994.350935