空间两刚体滚动约束系统在线运动规划

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空间两刚体滚动约束系统在线运动规划

任书锋^a, 杨丹^a, 余海东^a(

), 王皓^a^,^b

Online Motion Planning for Two Space Rigid Bodies with Rolling Constraints

REN Shufeng^a, YANG Dan^a, YU Haidong^a(

), Wang Hao^a^,^b

图1. 接触模型坐标系

Fig.1. Coordinate system of contact model