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。