Modern Robotics, Chapter 12.2.1: Friction

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See modernrobotics.org for information on the book, free software, and other materials.
This video introduces dry Coulomb friction, where the friction force resisting sliding motion at a contact is proportional to the normal force. The constant of proportionality is the friction coefficient. The set of forces that can be applied through a frictional contact can be interpreted as a friction cone, which can also be represented as a wrench cone. The total set of wrenches that can be applied through a set of frictional contacts is called a composite wrench cone.
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
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