This article summarizes ideas on representing translational friction and computing reaction forces in configuration space. The configuration space of an object is the parameter space describing the object's degrees of freedom. Kinematic constraints imposed on the object by obstacles in the environment may be represented as hypersurfaces in the configuration space. Physical and dynamical constraints such as those imposed by friction may be represented as constraints in the generalized force space that accompanies the configuration space. This article develops a representation of friction in this generalized force space that is analogous to the classical friction cone in real space
Using a configuration space approach, this paper develops a 2 nd order mobility theory for a body,...
The theory of two-sided, positional constraints with friction acting on a material point in Classica...
A configuration-space-based approach for analyzing the interactions and mobility of objects in quasi...
A method to determine constraints on translational and rotational motion of planar and 3-D objects f...
A method to determine constraints on translational and rotational motion of planar and 3-D objects f...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
Multibody models are useful to describe the macroscopic motion of the elements of physical systems. ...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
Constraints work in the simplest way among a variety of methods of modeling the mechanical behaviors...
Click on the DOI link to access the article (may not be free).A comprehensive analysis on the use of...
[[abstract]]There are several applications in robotics and manufacturing in which nominally rigid ob...
A comprehensive analysis on the use of different friction force models on the dynamic simulations of...
Using a configuration space approach, this paper develops a 2 nd order mobility theory for a body,...
The theory of two-sided, positional constraints with friction acting on a material point in Classica...
A configuration-space-based approach for analyzing the interactions and mobility of objects in quasi...
A method to determine constraints on translational and rotational motion of planar and 3-D objects f...
A method to determine constraints on translational and rotational motion of planar and 3-D objects f...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
Multibody models are useful to describe the macroscopic motion of the elements of physical systems. ...
There are several applications in robotics and manufacturing in which nominally rigid objects are su...
Constraints work in the simplest way among a variety of methods of modeling the mechanical behaviors...
Click on the DOI link to access the article (may not be free).A comprehensive analysis on the use of...
[[abstract]]There are several applications in robotics and manufacturing in which nominally rigid ob...
A comprehensive analysis on the use of different friction force models on the dynamic simulations of...
Using a configuration space approach, this paper develops a 2 nd order mobility theory for a body,...
The theory of two-sided, positional constraints with friction acting on a material point in Classica...
A configuration-space-based approach for analyzing the interactions and mobility of objects in quasi...