On the Algebraic Geometry of Contact Formation Cells for Systems of Polygons

The efficient planning ofcontact tasks for intelligent robotic systems requires a thorough understanding of the kinematic constraints im on the system by C l J -form analyticeolutionrrfor the poeition and orientation of a pamive polygon moving in contact with two or three active polygonrr whoee itions and orientations are independently controlE This is done by applying elimination techniquea to solve the eys tem of appropriate contact constraint equations. We prove that the syeterrm ofcontact constraint equations are smooth lrubmsnifolda of configuration space. rollin and sliding contacts. P-thls paper, we derive

• Type: Conference
• Year: 1994
• Where: ICRA
• Authors: A. O. Farahat, Peter F. Stiller, Jeffrey C. Trinkle
• Keywords: Constraint Equations, Contact Constraint Equations, ICRA 1994, Ofcontact Constraint Equations, Robotics