Interactive rigid body manipulation with obstacle contacts
نویسندگان
چکیده
منابع مشابه
Interactive rigid body manipulation with obstacle contacts
The interactive manipulation of rigid objects in virtual reality environments requires an object behaviour which is at least physically plausible to be useful for applications like interactive assembly simulation or virtual training. Physically plausible behaviour implies that collisions between simulated solid objects are taken into account, and that the motion of objects with obstacle contact...
متن کاملLyapunov stability of a rigid body with two frictional contacts
Lyapunov stability of a mechanical system means that the dynamic response stays bounded in an arbitrarily small neighborhood of a static equilibrium configuration under small perturbations in positions and velocities. This type of stability is highly desired in robotic applications that involve multiple unilateral contacts. Nevertheless, Lyapunov stability analysis of such systems is extremely ...
متن کاملDynamic multi-rigid-body systems with concurrent distributed contacts
J.C. Trinkle† Intelligent Systems Principles Department Sandia National Laboratories Albuquerque, NM 87185-1004 Email: [email protected] J.A. Tzitzouris Department of Mathematical Sciences The Johns Hopkins University Baltimore, Maryland 21218-2689, U.S.A. Email: [email protected] J.S. Pang‡ Department of Mathematical Sciences The Johns Hopkins University Baltimore, Maryland 21218-2689, U.S.A....
متن کاملStability of rigid-body dynamics with sliding frictional contacts
The use of rigid body models during frictional contact i s often justified by proving the existence of a unique solution to the forward dynamic equations. The implicit assumption here is that the contact forces so obtained are stable. In this paper, the rigid-body assumption is relaxed and bodyto-body contacts are modeled using springs and dampers. A singular perturbation analysis reveals addit...
متن کاملDextrous manipulation with rolling contacts
Dextrous manipulation is a problem of paramount importance in the study of multi ngered robotic hands. Given a grasped object, the main objectives are: (a) generate trajectories for the nger joints so that through the e ects of contact constraints, the object can be transferred to a goal grasp con guration; and (b) derive control algorithms to realize planned trajectories. In this paper, we int...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The Journal of Visualization and Computer Animation
سال: 1998
ISSN: 1049-8907,1099-1778
DOI: 10.1002/(sici)1099-1778(1998100)9:4<243::aid-vis189>3.0.co;2-5