Abstract
In this paper, we study the problem of predicting the quasistatic planar motion of a passive rigid body in frictional contact with a set of active rigid bodies. The active bodies can be thought of as the links of a mechanism or robot manipulator whose positions can be actively controlled by actuators. The passive body can be viewed as a “grasped” object, which moves only in response to contact forces and other external forces such as those due to gravity. We formulate this problem as a certain uncoupled complementarity problem, and show that it belongs to the class of NP-complete problems. Finally, numerical results of our proposed linear programming-based solution algorithm for this class of problems are presented and compared to the only other currently available solution algorithm.
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The research of this author was based on work supported by the National Science Foundation under grants DDM-9104078 and CCR-9213739.
The research of this author was partially supported by the National Science Foundation under grant IRI-9304734, the Texas Advanced Technology Program under grant 999903-095, and the Texas Advanced Research Program under grant 999903-078.
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Pang, JS., Trinkle, J.C. & Lo, G. A complementarity approach to a quasistatic multi-rigid-body contact problem. Comput Optim Applic 5, 139–154 (1996). https://doi.org/10.1007/BF00249053
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DOI: https://doi.org/10.1007/BF00249053