Modeling the kinematics and dynamics of compliant contact

In this paper; we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equa-tions describing the motion of the contact point when two rigid bodies are rolling on each other: Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bod-ies, using a spatial spring and a damper to model energy stored and dissipated during contact.