Computing Wrench Bounds Along a Curved Surface in 2D Kevin Egan Stephen Berard J. C. Trinkle Often it is useful to account for small error or variation in a physical simulation. We develop conservative bounds for the unit wrenches applied by pushing on a curved surface patch in two dimensions. We discuss subdividing the surface patch to obtain tighter bounds, and incorporating varying force directions caused by frictional contacts. Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY cs-04-09
Computing Wrench Bounds Along a Curved Surface in 2D
Kevin Egan
Stephen Berard
J. C. Trinkle
Often it is useful to account for small error or variation in a physical simulation. We develop conservative bounds for the unit wrenches applied by pushing on a curved surface patch in two dimensions. We discuss subdividing the surface patch to obtain tighter bounds, and incorporating varying force directions caused by frictional contacts.
Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY
cs-04-09