Abstract
When a body is under bilateral constraint, the constraint condition for the body is represented as homogeneous linear equations of velocity and force and their solution set for velocity is an orthogonal complement of that for force. In case of unilateral constraint, the condition is represented as homogeneous linear inequalities generally and their solution set for velocity is a dual polyhedral convex cone of that for force.
However, no general method has been proposed yet for deriving such constraint condition automatically, when a body contacts another body in an arbitrary state.
In this paper, we propose a general algorithm for deriving constraint of contact between bodies from geometric model of a body and working environment constraining it. The algorithm has been implemented in EusLisp. The algorithm is able to be applied in the case that a polyhedron with an arbitrary shape contacts another one in an arbitrary state and therefore very general. We believe it becomes a key technology for the analysis, planning and control of constrained motion and the assembly sequence planning.
