Geometric Kinematic Approach to Rigid Objects with Point Contact Based on A Local-Surface Frame
Controlling the relative motion between two contactingrigid bodies is necessary when manipulation and locomotion tasks areencountered in robotics. In this paper, we express the kinematics ofspin-rolling motion of rigid objects with point contact based on thelocal-surface frame method. We give the re...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Sakarya University
2018-12-01
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| Series: | Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi |
| Subjects: | |
| Online Access: | https://dergipark.org.tr/tr/download/article-file/499171 |
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| Summary: | Controlling the relative motion between two contactingrigid bodies is necessary when manipulation and locomotion tasks areencountered in robotics. In this paper, we express the kinematics ofspin-rolling motion of rigid objects with point contact based on thelocal-surface frame method. We give the relationship between the Darboux frameand local-surface frame, and also between the Frenet-Serret frame and local-surfaceframe. Additionally, we obtain velocity of the moving object according to thelocal-surface frame curvatures of the respective contact curve and geometricinvariants. We can have proper information about trajectory planning if we takethe formulations of moving object into consideration according to thelocal-surface frame. |
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| ISSN: | 2147-835X |