Paper Info
Title
On the hybrid dynamics of planar mechanisms supported by frictional contacts. II: stability of two-contact rigid body postures
Abstract
This paper is concerned with the hybrid dynamics and stability of a planar rigid body supported by two frictional contacts in a gravitational field. The stability of equilibrium postures is investigated under initial perturbations which may involve sliding or separation of the contacts. The paper formulates the hybrid dynamics induced by collisions and impacts at the two contacts. The Zeno behavior of bouncing and clattering motion converging to limit points of one- or two-contact re-establishment are analyzed, and a condition guaranteeing convergence to a Zeno point is derived. Finally, this condition is combined with the results of the companion paper to derive sufficient conditions for stability of frictional two-contact equilibrium postures of a planar rigid body.
Year
DOI
Venue
2008
10.1109/ROBOT.2008.4543370
ICRA
Keywords
Field
DocType
two-contact rigid body postures,friction,robot dynamics,motion control,planar mechanisms,clattering motion,frictional contacts,bouncing motion,mechanical variables control,convergence,stability,gravitational field,zeno behavior,hybrid dynamics,rigid body,stability analysis,robots,mechanical engineering,switches
Convergence (routing),Motion control,Control theory,Gravitational field,Rigid body,Control engineering,Planar,Motion analysis,Classical mechanics,Limit point,Perturbation (astronomy),Physics
Conference
Volume
Issue
ISSN
2008
1
1050-4729 E-ISBN : 978-1-4244-1647-9
ISBN
Citations 
PageRank 
978-1-4244-1647-9
6
0.48
References 
Authors
5
2
Name
Order
Citations
PageRank
Yizhar Or19013.15
Elon Rimon21128157.34