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Analysis of Mechanical and Robotic Systems With Multiple Unilateral Frictional Contacts. Contact Kinematics and Contact Forces, Coulomb's Friction Model, Statics-graphical Methods, Formulating Dynamics With Constraints Under Different Contact Modes. Painleve's Paradox and Dynamic Jamming, Impact Models, Zeno Phenomenon Dynamically Walking Robot Models, Stability of Orbits in Hybrid Systems, Poincare Maps. Learning Outcome# at The End of The Course The Student Will Be Capable Of# 1. Analysis of Planar Problems in Statics With Multiple Unilateral Frictional Contacts By Methods and By Solving Alinear Programming. 2. Formulating Equations of Motion For A Mechanical System With Contact Constraints. 3. Formulating Conditions For Occurrence of Painleve's Paradox in A System With a Single Frictional Contact.4. Formulating Impact Laws For A Single Contact With and Without Friction in a System of Rigid Bodies.5.formulating Equations of Motion of a Mecanical Systems With Intermittent Contacts As a Hybrid System. 6.conducting Numerical Sinulations of Mecanical Systems With Intermittent Contact. 7. Finding Periodic Solutions of a Hybrid Dynamical System and Their Stability Using Poincare Map.

Faculty: Mechanical Engineering
|Undergraduate Studies |Graduate Studies

Pre-required courses

(34010 - Dynamics and 34032 - Linear Systems M and 34040 - Introduction to Control)

• A mathematical introduction to robotic manipulation - Murray, Richard M.
• Feedback control of dynamic bipedal robot locomotion
• Mechanics of robotic manipulation - Mason, Matthew T.
• Mechanics of robotic manipulation - Mason, Matthew T.,
• Nonsmooth mechanics : models, dynamics, and control - Brogliato, Bernard
• Nonsmooth Mechanics [electronic resource] : Models, Dynamics and Control - Brogliato, Bernard.
• Nonsmooth Mechanics [electronic resource] : Models, Dynamics and Control - Brogliato, Bernard.