In this discussion, we provide corrections to the second-order kinematic equations describing contact between three-dimensional rigid bodies, originally published in Sarkar et al. (1996) [“Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies,” ASME J. Appl. Mech., 63(4), pp. 974–984].

References

References
1.
Sarkar
,
N.
,
Kumar
,
V.
, and
Yun
,
X.
,
1996
, “
Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies
,”
ASME J. Appl. Mech.
,
63
(
4
), pp.
974
984
.
2.
Sarkar
,
N.
,
1993
, “
Control of Mechanical Systems With Rolling Contacts: Applications to Robotics
,” Ph.D. thesis,
University of Pennsylvania
,
Philadelphia, PA
.
3.
Montana
,
D. J.
,
1988
, “
The Kinematics of Contact and Grasp
,”
Int. J. Rob. Res.
,
7
(
3
), pp.
17
32
.
4.
Cai
,
C.
, and
Roth
,
B.
,
1987
, “
On the Spatial Motion of a Rigid Body With Point Contact
,”
IEEE International Conference on Robotics and Automation
,
Raleigh, NC
,
Mar. 31
.
5.
Sarkar
,
N.
,
Xiaoping
,
Y.
, and
Kumar
,
V.
,
1997
, “
Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation
,”
IEEE Trans. Rob. Autom.
,
13
(
3
), pp.
364
376
.
6.
Sarkar
,
N.
,
Xiaoping
,
Y.
, and
Kumar
,
V.
,
1997
, “
Control of Contact Interactions With Acatastatic Nonholonomic Constraints
,”
Int. J. Rob. Res.
,
16
(
3
), pp.
357
374
.
This content is only available via PDF.
You do not currently have access to this content.