A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects with Point Contact

A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects with Point Contact

This paper investigates the kinematics of spin-rolling motion of rigid objects. This paper does not consider slipping but applies a Darboux frame to develop kinematics of spin-rolling motion, which occurs in a nonholonomic system. A new formulation of spin-rolling motion of the moving object is deri...

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Bibliographic Details
Main Authors: Cui, Lei, Dai, J.
Format: Journal Article
Published: IEEE Press 2010
Subjects:
kinematics
rolling
nonholonomic
grasping
spin-rolling
point contact
multifingered hand
motion
Darboux frame
Online Access:http://hdl.handle.net/20.500.11937/22245

Internet

http://hdl.handle.net/20.500.11937/22245

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