Optimization based approach for determining whether a set of elementary contacts is geometrically feasible

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

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Scopus citations

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 publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherASME
Pages883-889
Number of pages7
Volume67
ISBN (Print)0791816346
Publication statusPublished - 1999
EventDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) - Nashville, TN, USA
Duration: Nov 14 1999Nov 19 1999

Other

OtherDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
CityNashville, TN, USA
Period11/14/9911/19/99

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ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

Cite this

Goeree, B. B., Fasse, E. D., & Marefat, M. M. (1999). Optimization based approach for determining whether a set of elementary contacts is geometrically feasible. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (Vol. 67, pp. 883-889). ASME.