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

 
 
 
 

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

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dc.contributor.advisor Loparo, Kenneth A. en_US
dc.contributor.author Vakalis, Ioannis en_US
dc.date.accessioned 2008-07-10T14:29:01Z
dc.date.available 2008-07-10T14:29:01Z
dc.date.created 1990 en_US
dc.date.issued 2008-07-10T14:29:01Z
dc.identifier.uri http://rave.ohiolink.edu/etdc/view?acc_num=case1054835538 en_US
dc.identifier.uri http://hdl.handle.net/2374.OX/16463
dc.description 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. en_US
dc.format application/pdf en_US
dc.format 237p. en_US
dc.rights unrestricted en_US
dc.rights Copyright and permissions information available at the source archive en_US
dc.subject Kinematic dynamic interacting robotics en_US
dc.title Kinematic and dynamic modeling of interacting many-body systems, with applications to robotics en_US
dc.type Electronic Thesis or Dissertation en_US
dc.degree.name PhD en_US
dc.degree.level doctoral en_US
dc.degree.discipline Systems and Control Engineering en_US
dc.degree.grantor Case Western Reserve University en_US
dc.contributor.publisher Case Western Reserve University / OhioLINK en_US

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