A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning
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 cur...
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| Other Authors: | |
| Format: | Conference Paper |
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IEEE Press
2009
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| Online Access: | http://hdl.handle.net/20.500.11937/21732 |
| _version_ | 1848750672546103296 |
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| author | Cui, Lei Dai, Jian |
| author2 | Fumio Harashima |
| author_facet | Fumio Harashima Cui, Lei Dai, Jian |
| author_sort | Cui, Lei |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T07:40:33Z |
| format | Conference Paper |
| id | curtin-20.500.11937-21732 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:40:33Z |
| publishDate | 2009 |
| publisher | IEEE Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-217322017-09-13T13:53:06Z A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning Cui, Lei Dai, Jian Fumio Harashima coordinate invariant path planning Darboux frame rolling contact 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. 2009 Conference Paper http://hdl.handle.net/20.500.11937/21732 10.1109/ROBOT.2009.5152249 IEEE Press fulltext |
| spellingShingle | coordinate invariant path planning Darboux frame rolling contact Cui, Lei Dai, Jian A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| title | A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| title_full | A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| title_fullStr | A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| title_full_unstemmed | A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| title_short | A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| title_sort | coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning |
| topic | coordinate invariant path planning Darboux frame rolling contact |
| url | http://hdl.handle.net/20.500.11937/21732 |