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Contact, wheel slip, and friction documentation #694

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Contact, wheel slip, and friction documentation #694

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Commits on Jul 10, 2024

  1. Tutorial about contact, slip, and friction 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Jul 10, 2024
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  2. Tutorial about wheel-terrain contact 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Jul 10, 2024
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Commits on Jul 29, 2024

  1. fix whitespace 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Jul 29, 2024
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Commits on Jul 31, 2024

  1. Try an svg illustration of contact 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Jul 31, 2024
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Commits on Aug 2, 2024

  1. Use svg groups and define top objects last 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 2, 2024
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  2. Add animation of contact without slip 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 2, 2024
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  3. Add animation of contact with slip 

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    scpeters committed Aug 2, 2024
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  4. Use one large box on bottom 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 2, 2024
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  5. Make box slide and wheel slip backwards 

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    scpeters committed Aug 2, 2024
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  6. Use same smaller radius for top circles 

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    scpeters committed Aug 2, 2024
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  7. Make contact figure look more like slip figures 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 2, 2024
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Commits on Aug 4, 2024

  1. Add illustrations of contact without and with slip 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 4, 2024
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Commits on Aug 14, 2024

  1. update wording 

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    scpeters committed Aug 14, 2024
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Commits on Aug 16, 2024

  1. more friction write-up 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 16, 2024
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  2. discuss constraint relaxation, add ascii plot 

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    scpeters committed Aug 16, 2024
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  3. compare friction step to saturation plot 

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    scpeters committed Aug 16, 2024
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  4. Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli… 

    …p_tutorial
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    scpeters committed Aug 16, 2024
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  5. re-order section, add references about non-dim slip 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 16, 2024
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Commits on Aug 17, 2024

  1. incorporate feedback about friction 

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    scpeters committed Aug 17, 2024
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Commits on Aug 23, 2024

  1. Expand description of slip compliance 

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    scpeters committed Aug 23, 2024
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  2. document mu, friction coefficient 

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    scpeters committed Aug 23, 2024
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  3. Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli… 

    …p_tutorial
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    scpeters committed Aug 23, 2024
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Commits on Aug 24, 2024

  1. define wheel directions, nondimensional wheel slip 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Aug 24, 2024
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Commits on Sep 19, 2024

  1. Comment on accuracy, consistency of contact points 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 19, 2024
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  2. Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli… 

    …p_tutorial
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    scpeters committed Sep 19, 2024
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Commits on Sep 21, 2024

  1. add comment 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 21, 2024
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  2. define sat(x), relaxed friction function 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 21, 2024
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  3. Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli… 

    …p_tutorial
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    scpeters committed Sep 21, 2024
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Commits on Sep 26, 2024

  1. define friction curve with slip differently 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 26, 2024
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  2. Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli… 

    …p_tutorial
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    scpeters committed Sep 26, 2024
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  3. change V_C to v_t, V_W to v_W for consistency 

    match the variable names used in contact tutorial

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    scpeters committed Sep 26, 2024
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  4. document wheel slip plugin's nondimensional calcs 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 26, 2024
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Commits on Sep 27, 2024

  1. Add contact patch discussion, plowing figures 

    use markdown tables in wheel slip discussion

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  2. fix table syntax 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 27, 2024
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  3. clarify slip value definitions with s_a, s_b, S_a 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Sep 27, 2024
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  4. move wheel coordinates earlier, finish plowing 

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    scpeters committed Sep 27, 2024
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  5. document nonlinear friction model 

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    scpeters committed Sep 27, 2024
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