A polynomial approach to inverse kinematics of rolling contact
Access Status
Fulltext not available
Date
2012Type
Conference Paper
Metadata
Show full item recordCitation
Cui, L. and Dai, J. 2012. A polynomial approach to inverse kinematics of rolling contact, in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference: Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, Aug 12-15 2012, pp. 1563-1570. Chicago, Illinois: ASME.
Source Title
Proceedings of the ASME Design Engineering Technical Conference
ISBN
School
Department of Mechanical Engineering
Collection
Abstract
A moving object has three rotational degrees of freedom with respect to the fixed one when the two objects maintain rolling contact. Thus three kinematic inputs are considered necessary for the moving object to follow a trajectory described by its velocity profile as function of time. This paper formulates the problem as a system of three nonlinear equations and reduces it to solving a polynomial of degree six with one variable. This leads to fast and accurate numerical approximations of roots on a computer either by commercial software or open-source software. This polynomial formulation is different from previous ones that require solving a system of nonlinear ordinary differential equations.