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

TY - JOUR

T1 - A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects With Point Contact

AU - Cui, Lei

AU - Dai, Jian S.

PY - 2010/4

Y1 - 2010/4

N2 - 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 derived in terms of contravariant vectors, rolling velocity, and geometric invariants, including normal curvature, geodesic curvature, and geodesic torsion of the respective contact curve. The equation is represented with geometric invariants. It can be readily generalized to suit both arbitrary parametric surface and contact trajectory and can be differentiated to any order. Effect of the relative curvatures and torsion on spin-rolling kinematics is explicitly presented. The translation velocity of an arbitrary point on the moving object is also derived based on the Darboux frame.

AB - 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 derived in terms of contravariant vectors, rolling velocity, and geometric invariants, including normal curvature, geodesic curvature, and geodesic torsion of the respective contact curve. The equation is represented with geometric invariants. It can be readily generalized to suit both arbitrary parametric surface and contact trajectory and can be differentiated to any order. Effect of the relative curvatures and torsion on spin-rolling kinematics is explicitly presented. The translation velocity of an arbitrary point on the moving object is also derived based on the Darboux frame.

U2 - 10.1109/TRO.2010.2040201

DO - 10.1109/TRO.2010.2040201

M3 - Article

VL - 26

SP - 383

EP - 388

JO - IEEE TRANSACTIONS ON ROBOTICS

JF - IEEE TRANSACTIONS ON ROBOTICS

IS - 2

M1 - 5409559

ER -