AN OPTIMIZATION BASED APPROACH FOR DETERMINING WHETHER A SET OF ELEMENTARY CONTACTS IS GEOMETRICALLY FEASIBLE

Barry B. Goeree, Ernest D. Fasse, Michael M. Marefat

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The contact between two polyhedral objects can be represented with a set of elementary contacts - surface-vertex and edge-edge contacts. However, not all possible contact representations are geometrically possible. An equivalent optimization problem is posed to verify geometric feasibility. A steepest descent algorithm has been implemented and applied to two test cases - one feasible and one infeasible contact representation. The results of this work can be used to implement a predicate that verifies whether a contact representation is geometrically possible. The predicate can be used in a generate-and-test paradigm to synthesize the entire contact space.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages883-889
Number of pages7
ISBN (Electronic)9780791816349
DOIs
StatePublished - 1999
Externally publishedYes
EventASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999 - Nashville, United States
Duration: Nov 14 1999Nov 19 1999

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume1999-J

Conference

ConferenceASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999
Country/TerritoryUnited States
CityNashville
Period11/14/9911/19/99

ASJC Scopus subject areas

  • Mechanical Engineering

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