Geometric Kinematics of Point Contact
Abstract
This paper applies Darboux frame method to developing geometric kinematics of sliding-spin-rolling motion of rigid objects with point contact. For the first time, the geodesic curvatures, normal curvatures and geodesic torsions of both the sliding motion and rolling motion are derived in terms of known geometric entities. The geometric kinematics of the moving object is represented with geometric invariants. Effect of the relative curvatures and torsion on slidingspin- rolling kinematics is explicitly presented.
Citation
Cui, L. and Dai, J. S. 2010. Geometric Kinematics of Point Contact, in Lenarcic, J. and Stanišic,M. (ed), Advances in Robot Kinematics: Motion in Man and Machine, pp. 429-436. New York: Springer.
Source Title
Advances in Robot Kinematics: Motion in Man and Machine
ISBN
Collection
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