Based on the analysis of impedance display device, the interaction between tools and arbitrary-shaped objects is simplified as a dynamic unilateral constraint contact problem. 通过分析单边约束的特点,将复杂虚拟物体形状的感知和交互过程归结为动态单边约束的接触问题。
Degenerate Parabolic Equation and Unilateral Constraint Systems 退化抛物型方程与单侧约束系统
Neglecting the contact process, the pole-snow is described by unilateral constraint of multibody system dynamics. 忽略滑雪杖雪地的接触碰撞过程,把滑雪杖雪地的关系用多体系统动力学的单面约束进行描述。