IEEE - Institute of Electrical and Electronics Engineers, Inc. - Modeling and control of contact between constrained rigid bodies

Author(s): R. Featherstone
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 February 2004
Volume: 20
Page(s): 82 - 92
ISSN (Paper): 1042-296X
DOI: 10.1109/TRA.2003.820930
Regular:

This paper examines the phenomenon of frictionless contact between rigid bodies that are already subject to kinematic constraints from some other source. Such contacts occur frequently when robots... View More

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