Stability of rigid-body dynamics with sliding frictional contacts

@article{Dupont1996StabilityOR,
  title={Stability of rigid-body dynamics with sliding frictional contacts},
  author={Pierre E. Dupont and Serge P. Yamajako},
  journal={Proceedings of IEEE International Conference on Robotics and Automation},
  year={1996},
  volume={1},
  pages={378-384 vol.1}
}
  • P. Dupont, Serge P. Yamajako
  • Published 22 April 1996
  • Physics, Computer Science
  • Proceedings of IEEE International Conference on Robotics and Automation
The use of rigid body models during frictional contact is often justified by proving the existence of a unique solution to the forward dynamic equations. The implicit assumption here is that the contact forces so obtained are stable. In this paper, the rigid-body assumption is relaxed and body-to-body contacts are modelled using springs and dampers. A singular perturbation analysis reveals additional necessary conditions to ensure contact force stability in the reduced rigid-body model… 
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