[图书][B] Nonsmooth mechanics
B Brogliato, B Brogliato - 1999 - Springer
Thank you for opening the third edition of this monograph. The first edition [202] was
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …
Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives
B Brogliato - Annual Reviews in Control, 2023 - Elsevier
So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …
Analytical modeling of discrete mechanical systems involving contact, impact, and friction
S Natsiavas - Applied Mechanics Reviews, 2019 - asmedigitalcollection.asme.org
In this study, a review is presented on previous work referring to analytical modeling of
mechanical systems having components that come in contact during their motion in ways …
mechanical systems having components that come in contact during their motion in ways …
[图书][B] Multiple impacts in dissipative granular chains
NS Nguyen, B Brogliato - 2013 - books.google.com
The extension of collision models for single impacts between two bodies, to the case of
multiple impacts (which take place when several collisions occur at the same time in a …
multiple impacts (which take place when several collisions occur at the same time in a …
Dynamics of planar rocking-blocks with Coulomb friction and unilateral constraints: comparisons between experimental and numerical data
This paper concerns the dynamics of planar rocking blocks, which are mechanical systems
subject to two unilateral constraints with friction. A recently introduced multiple impact law …
subject to two unilateral constraints with friction. A recently introduced multiple impact law …
Three-dimensional impact: energy-based modeling of tangential compliance
YB Jia - The International Journal of Robotics Research, 2013 - journals.sagepub.com
Impact is indispensable in robotic manipulation tasks in which objects and/or manipulators
move at high speeds. Applied research using impact has been hindered by underdeveloped …
move at high speeds. Applied research using impact has been hindered by underdeveloped …
Comparisons of multiple-impact laws for multibody systems: Moreau's law, binary impacts, and the LZB approach
NS Nguyen, B Brogliato - … Topics in Nonsmooth Dynamics: Transactions of …, 2018 - Springer
This chapter is dedicated to comparisons of three well-known models that apply to multiple
(that is, simultaneous) collisions: Moreau's law, the binary collision law, and the LZB model …
(that is, simultaneous) collisions: Moreau's law, the binary collision law, and the LZB model …
Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls
In this paper, we analyze the capabilities of a generalized kinematic (Newton's like)
restitution law for the modeling of a planar rigid block that impacts a rigid ground. This …
restitution law for the modeling of a planar rigid block that impacts a rigid ground. This …
Solution to indeterminate multipoint impact with frictional contact using constraints
A Rodriguez, A Bowling - Multibody System Dynamics, 2012 - Springer
This work presents a method for determining the post-impact behavior of a rigid body
undergoing multiple, simultaneous impact with friction. A discrete algebraic model is used …
undergoing multiple, simultaneous impact with friction. A discrete algebraic model is used …
Analytic solution for planar indeterminate impact problems using an energy constraint
A Chatterjee, A Rodriguez, A Bowling - Multibody System Dynamics, 2018 - Springer
This work proposes an analytic method for resolving planar multi-point indeterminate impact
problems for rigid-body systems. An event-based approach is used to detect impact events …
problems for rigid-body systems. An event-based approach is used to detect impact events …