A novel method for computing the 3D friction cone using complimentary constraints
Dean Pretorius,Callen Fisher,Dean Pretorius,Callen Fisher
Modeling the Coulomb Friction Cone in trajectory optimization is typically done by linearizing it along a series of vectors. Often, these vectors define the edges of polyhedral estimations of the cone. This article provides an alternate approach that samples the cone along a vector that satisfies the Maximum Dissipation Principle, which is shown to be significantly more computationally tractable. ...
