Computing Wrench Bounds Along a Curved Surface in 2D
نویسندگان
چکیده
Often it is useful to account for small error or variation in a physical simulation. We develop conservative bounds for the unit wrenches applied by pushing on a curved surface patch in two dimensions. We discuss subdividing the surface patch to obtain tighter bounds, and incorporating varying force directions caused by frictional contacts.
منابع مشابه
A Simplified Curved Boundary Condition in Stationary/Moving Boundaries for the Lattice Boltzmann Method
Lattice Boltzmann method is one of computational fluid dynamic subdivisions. Despite complicated mathematics involved in its background, end simple relations dominate on it; so in comparison to the conventional computational fluid dynamic methods, simpler computer programs are needed. Due to its characteristics for parallel programming, this method is considered efficient for the simulation of ...
متن کاملSearching force-closure optimal grasps of articulated 2D objects with n links
This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, thus it may have any shape. The proposed approach finds, first, an initial force-closure grasp and from it starts an iterative search of a local optimum grasp. The quality meas...
متن کاملCooperative Object Transport in 3D with Multiple Quadrotors using No Peer Communication
We present a framework to enable a fleet of rigidly attached quadrotor aerial robots to transport heavy objects along a known reference trajectory without interrobot communication or centralized coordination. Leveraging a distributed wrench controller, we provide exponential stability guarantees for the entire assembly, under a mild geometric condition. This is achieved by each quadrotor indepe...
متن کاملAnalysis and Design of Curved Support Structures
Curved beams along freeform skins pose many challenges, not least on the level of basic geometry. A prototypical instance of this is presented by the glass facades of the Eiffel tower pavilions, and the interrelation between the differential-geometric properties of the glass surface on the one hand, and the layout of beams on the other hand. This paper discusses how curved beams are represented...
متن کاملIs precise discrimination of low level motion needed for heading discrimination?
Normal observers judge heading well both when moving in a straight line and when moving along a curved path. Judgments of curved path motion require depth variations in the scene while judgments of straight line heading (pure translation) do not. Here we show that a stroke patient who is impaired in low level 2D motion discrimination tasks and cannot accurately judge 3D structure from motion ca...
متن کامل