Contact Dynamics Modelling for Robotic Task Simulation
This thesis presents the theoretical derivations and the implementation of a contact dynamics modelling system based on compliant contact models. The system was designed to be used as a general-purpose modelling tool to support the task planning process space-based robot manipulator systems. This o...
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| Language: | en |
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2007
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| Online Access: | http://hdl.handle.net/10012/3416 |