Modelling contact phenomena within the dynamic simulation of advanced robotic structures

Modelling techniques suitable for representing and simulating the class of phenomena which characterize the so-called interactions between bodies on structures are analyzed. Dynamics models capable of representing interaction phenomena (i.e., sliding, rolling and impacts with friction), possibly occurring among the bodies of kinematic chains and the environment, are presented and discussed. Particular emphasis is placed on their possible use within dynamic simulation environments for advanced robotic structures