sin(α+β)=sinαcosβ+cosαsinβ
The net contact wrench cone (CWC) is the friction cone of the net contact wrench acting on a robot making multiple contacts, i.e. the sum of all contact wrenches. It can be represented as a set of feasible wrenches:
3 Matching Annotations
- Dec 2025
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manipulation.csail.mit.edu manipulation.csail.mit.edu
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manipulation.csail.mit.edu manipulation.csail.mit.edu
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Cartesian
Cartesian forces:
A Cartesian coordinate system is a plane or space defined by two or three perpendicular axes, where every point is uniquely specified by an ordered pair (or triple) of real numbers representing its distances from the fixed axes, allowing geometric problems to be described algebraically.
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manipulation.csail.mit.edu manipulation.csail.mit.edu
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1) it effectively diagonalizes the manipulator equations (the inertial coupling terms are relatively small
what is ts twin
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