Motion constraints from contact geometry: representation and analysis
نویسندگان
چکیده
A method to determine constraints on translational and rotational motion of planar and 3-D objects from their contact geometry is presented. Translations are represented by spatial vectors and rotations by axes in space. For each of these, a geometric realization (Ma) of the space of motion parameters is created. Subspaces in Ma that represent the range of values of motion parameters that are `disallowed' due to the contact are identi ed. The geometric realization makes it easier to visualize results, provides a good measure of the extent of restraints between objects, reduces computations by eliminating redundant constraints, and simpli es computation of net constraints. The proposed representation can be used e ectively to automate the evaluation of motion constraints. In Proceedings: IEEE Int. Conf. on Robotics and Automation, Nice, France May 10-15, 1992, pp: 2178-2185
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