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Kinematic and dynamic modeling of interacting many-body systems, with applications to robotics

Vakalis, Ioannis
http://rave.ohiolink.edu/etdc/view?acc_num=case1054835538

Abstract Details

1990, Doctor of Philosophy, Case Western Reserve University, Systems and Control Engineering.
This dissertation studies the problem modeling a system of interacting rigid bodies, with applications to robotics. The investigation is particularly focused on the interaction between rigid bodies in contact, but the dynamic modeling framework which is developed can also include rigid bodies which are interacting through other constraints, e.g. with hard joints. In general, a system of interacting rigid bodies will include kinds of interaction constraints, contact and joints. The main assumption in this development, is that only point contact is allowed between the rigid bodies. There is a number of issues regarding the kinematics and dynamics of contact which are examined for the first time in this work. Initially, we investigate criteria for the possibility of contact between two rigid bodies based on the curvature of surfaces. From this analysis the configuration space of a rigid body, constrained to move on a stationary surface, is characterized. Next, a generalization of a rolling constraint is obtained, and the motion is described on the constrained configuration space. This construction is extended to the case that both the object and the surface are moving. Finally, a general framework for the modeling of a system of interacting rigid bodies is given. This is done by restricting the dynamics of each body on the appropriate constrained configuration space due to the interaction with the other rigid bodies. For this purpose, the geometric form of Newton's and Euler's equations is used. The applied forces and torques on each body are interpreted as geometric quantities, and their effect on the dynamics of the system varies depending on their labelling as applied, constraint or frictional forces and torques.
Kenneth Loparo (Advisor)
237 p.
Kinematic dynamic interacting robotics

Recommended Citations

Citations

  • Vakalis, I. (1990). Kinematic and dynamic modeling of interacting many-body systems, with applications to robotics [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1054835538

    APA Style (7th edition)

  • Vakalis, Ioannis. Kinematic and dynamic modeling of interacting many-body systems, with applications to robotics. 1990. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1054835538.

    MLA Style (8th edition)

  • Vakalis, Ioannis. "Kinematic and dynamic modeling of interacting many-body systems, with applications to robotics." Doctoral dissertation, Case Western Reserve University, 1990. http://rave.ohiolink.edu/etdc/view?acc_num=case1054835538

    Chicago Manual of Style (17th edition)

case1054835538
741
© 1990, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.