ملخص: We present a theory of qualitative rigid-body mechanics and describe a program that uses this theory to compute qualitative rigid-body dynamic simulations. The program works directly from a qualitative representation of geometry—qualitative configuration space—without need of any metric information. The program can handle devices that are composed of an arbitrary number of fixedaxis components and springs, with driving inputs coming from both applied motions and forces. The program employs quasi-static assumptions, i.e., inertia-free motion, inelastic collisions, and frictionless contacts. It employs a new qualitative representation for forces that reduces ambiguity in force sums and hence reduces unnecessary branching.

لغة: إنجليزية