Elisha Sacks, Leo Joskowicz. Dynamical simulation of assemblies of planar, 1 DOF parts with changing contacts using configuration spaces. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 1972-1979, IEEE, 1997. [doi]
Abstract is missing.