A Polynomial Formulation of Inverse Kinematics of Rolling Contact

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A Polynomial Formulation of Inverse Kinematics of Rolling Contact

Rolling contact has been used by robotic devices to drive between configurations. The degrees of freedom (DOFs) of rolling contact pairs can be one, two, or three, depending on the geometry of the objects. This paper aimed to derive three kinematic inputs required for the moving object to follow a t...

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Bibliographic Details
Main Authors:	Cui, Lei, Dai, J.
Format:	Journal Article
Published:	ASME International 2015
Subjects:	kinematics mobile robot rolling differential geometry Darboux frame contact polynomial
Online Access:	http://hdl.handle.net/20.500.11937/38735

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