Title :
On the form-closure of polygonal objects with frictional and frictionless contact models
Author :
Chen, Yu-Che ; Trinkle, Jeffrey C.
Author_Institution :
Dept. of Mech. Eng., Tulsa Univ., OK, USA
Abstract :
The problem of form-closure for three-fingered grasps of polygonal objects under various combinations of contact models at the contact points is investigated. It is shown that equilibrium can be maintained even when some of the contacts between the fingers and the grasped object are frictionless and tangential contact forces do not exist. Feasible regions for location of the fingers, and for safe manipulation of the object under various combination of contact models are identified
Keywords :
force control; friction; manipulators; contact points; form-closure; frictional contact models; frictionless contact models; frictionless contacts; manipulation; polygonal objects; tangential contact forces; three-fingered grasps; Computational complexity; Computer science; Educational institutions; Equations; Fingers; Friction; Mechanical engineering;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292268
