On the spatial motion of a rigid body with point contact
暂无分享,去创建一个
This paper is an extension to the 3-dimensional case of our previous work on planar motion with point contact [2]. Here we study the so called roll-slide spatial motions. Such motions occur whenever point contact between bodies is maintained under spatial motion. We consider instantaneous time-based kinematics and assume the presence of a tactile sensor to measure the relative motion at the point of contact. It is indicated how the derived kinematic relationships can be applied to sensor based robotic path planning.
[1] H. Müller. Zur Kinematik des Rollgleitens , 1953 .
[2] H. Müller. Zur Kinematik des Rollgleitens, II , 1955 .
[3] H. Müller. Zur Ermittlung von Hüllflächen in der räumlichen Kinematik , 1959 .
[4] Ph. D. Miomir Vukobratović D. Sc.,et al. Applied Dynamics and CAD of Manipulation Robots , 1985, Communications and Control Engineering Series.
[5] Bernard Roth,et al. On the planar motion of rigid bodies with point contact , 1986 .