Virtual decomposition control is applied to control a KUKA 361 six-joint industrial robot performing hybrid tasks with a rigid unilateral constraint. In order to accommodate motion/force control, the required velocity is re-designed by introducing filtered contact forces in full control dimensions, which makes the controlled robot behave as hybrid controlled for a known contact geometry and imp...

This study is aimed at the analysis of articular contact in a three-dimensional mathematical model of the human knee-joint. In particular the effect of articular contact on the passive motion characteristics is assessed in relation to experimentally obtained joint kinematics. Two basically different mathematical contact descriptions were compared for this purpose. One description was for rigid ...

The elasticity mixed boundary values problems dealing with half-space contact are generally well resolved. A large number of these solutions are obtained by using the integral transformation method and methods based the integral equations. However, the problems of finite layer thicknesses are less investigated, despite their practical interests. This study resolves a quasi-stationary problem of...

We propose a novel monolithic pure SPH formulation to simulate fluids strongly coupled with rigid bodies. This includes fluid incompressibility, fluid–rigid interface handling and rigid–rigid contact viable implicit particle-based dry friction formulation. The resulting global system is solved using new accelerated solver implementation that outperforms existing rigid–fluid simulation approache...

The use of Coulomb’s friction law with the principles of classical rigid-body dynamics introduces mathematical inconsistencies. Specifically, the forward dynamics problem can have no solutions or multiple solutions. In these situations, compliant contact models, while increasing the dimensionality of the state vector, can resolve these problems. The simplicity and efficiency of rigid-body model...