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2. 空间刚体滚动接触运动模型

Fig.2. Model of rolling contact motion for space rigid bodies