DocumentCode
1869241
Title
A quantitative stability measure for graspless manipulation
Author
Maeda, Yusuke ; Arai, Tamio
Author_Institution
Dept. of Precision Eng., Univ. of Tokyo, Japan
Volume
3
fYear
2002
fDate
2002
Firstpage
2473
Lastpage
2478
Abstract
The stability of objects in graspless manipulation (or nonprehensile manipulation) is investigated. In contrast with the stability of grasps, it is crucial for the stability of graspless manipulation to evaluate frictional forces applied to objects in contact motion. We formulate the effect of Coulomb friction and propose a quantitative stability measure for graspless manipulation. The measure can be calculated approximately with linear programming. Finally, we show numerical examples. Our stability measure will be useful in planning of graspless manipulation
Keywords
force control; friction; linear programming; manipulators; position control; stability; Coulomb friction; contact motion; frictional forces; graspless manipulation; linear programming; nonprehensile manipulation; quantitative stability measure; Current measurement; Fingers; Force measurement; Friction; Gravity; Linear approximation; Motion planning; Precision engineering; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013603
Filename
1013603
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