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9. 球-球模型计算时间曲线

Fig.9. Calculation time curve of sphere-sphere model