A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning
| dc.contributor.author | Cui, Lei | |
| dc.contributor.author | Dai, Jian | |
| dc.contributor.editor | Fumio Harashima | |
| dc.date.accessioned | 2017-01-30T12:26:59Z | |
| dc.date.available | 2017-01-30T12:26:59Z | |
| dc.date.created | 2013-10-10T20:00:35Z | |
| dc.date.issued | 2009 | |
| dc.identifier.citation | Cui, Lei and Dai, J. S. 2009. A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning, in Harashima, F. (ed), 2009 IEEE International Conference on Robotics and Automation, May 12-17 2009. Kobe, Japan: IEEE Press. | |
| dc.identifier.uri | http://hdl.handle.net/20.500.11937/21732 | |
| dc.identifier.doi | 10.1109/ROBOT.2009.5152249 | |
| dc.description.abstract |
This paper adopts a coordinate-free approach to investigate the kinematics of rigid bodies with rolling contact. A new equation of angular velocity of the moving body is derived in terms of the magnitude of rolling velocity and two sets of geometric invariants belonging to the respective contact curves. This new formulation can be differentiated up to any order. Furthermore, qualitative information about trajectory planning can be deduced from this equation if the characteristics of rolling objects and the motion are taken into consideration. | |
| dc.publisher | IEEE Press | |
| dc.subject | coordinate invariant | |
| dc.subject | path planning | |
| dc.subject | Darboux frame | |
| dc.subject | rolling contact | |
| dc.title | A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning | |
| dc.type | Conference Paper | |
| dcterms.source.issn | 1050-4729 | |
| dcterms.source.title | Proceedings of the 2009 IEEE International Conference on Robotics and Automation | |
| dcterms.source.series | Proceedings of the 2009 IEEE International Conference on Robotics and Automation | |
| dcterms.source.conference | 2009 IEEE International Conference on Robotics and Automation | |
| dcterms.source.conference-start-date | May 12 2009 | |
| dcterms.source.conferencelocation | Kobe, Japan | |
| dcterms.source.place | New York | |
| curtin.note |
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| curtin.department | ||
| curtin.accessStatus | Open access |