On the Algebraic Geometry of Contact Formation Cells for Systems of Polygons
نویسندگان
چکیده
The efficient planning of contact tasks for intelligent robotic systems requires a thorough understanding of the kinematic constraints im on the system by C l J form analytic eolutionrr for the poeition and orientation of a pamive polygon moving in contact with two or three active polygonrr whoee itions and orientations are independently c o n t r o l E This is done by applying elimination techniquea to solve the eys tem of appropriate contact constraint equations. We prove that the syeterrm of contact constraint equations are smooth lrubmsnifolda of configuration space. rollin and sliding contacts. Pthls paper, we derive
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