A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning

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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Bibliographic Details
Main Authors: Cui, Lei, Dai, Jian
Other Authors: Fumio Harashima
Format: Conference Paper
Published: IEEE Press 2009
Subjects:
coordinate invariant
path planning
Darboux frame
rolling contact
Online Access:http://hdl.handle.net/20.500.11937/21732

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