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A Compliant Contact Model Including Interference Geometry for Space Robotic Systems

[+] Author Affiliations
Lianzhen Luo, Meyer Nahon

McGill University, Montreal, QC, Canada

Paper No. DETC2005-85116, pp. 487-496; 10 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4743-8 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


Modeling of contact with the environment is an essential capability for the simulation of space robotics system, which includes tasks such as berthing and docking. The effect of interbody contact on the robotics system has to be determined to predict potential problems in the design cycle. A compliant contact dynamics model is proposed here, which considers most possible contact situations for a wide diversity of possible object shapes and using interference geometry information. A uniform formula is provided to determine the contact force as a function of geometric parameters and material properties. A corresponding geometric algorithm is provided in order to obtain the necessary geometric parameters. Some simulation results are presented based on the implementation of the geometric algorithm.

Copyright © 2005 by ASME
Topics: Robotics , Geometry



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