Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies

[+] Author and Article Information
N. Sankar

Department of Computing and Information Science, Queen’s University, Kingston, Ontario K7L 3N6, Canada

V. Kumar

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104

Xiaoping Yun

Department of Electrical and Computer Engineering, Naval Postgraduate School, Monterey, CA 93943-5121

J. Appl. Mech 63(4), 974-984 (Dec 01, 1996) (11 pages) doi:10.1115/1.2787255 History: Received March 04, 1994; Revised March 27, 1996; Online October 26, 2007


During manipulation and locomotion tasks encountered in robotics, it is often necessary to control the relative motion between two contacting rigid bodies. In this paper we obtain the equations relating the motion of the contact points on the pair of contacting bodies to the rigid-body motions of the two bodies. The equations are developed up to the second order. The velocity and acceleration constraints for contact, for rolling, and for pure rolling are derived. These equations depend on the local surface properties of each contacting body. Several examples are presented to illustrate the nature of the equations.

Copyright © 1996 by The American Society of Mechanical Engineers
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