Title :
Stability characterizations of fixtured rigid bodies with Coulomb friction
Author :
Pang, J.S. ; Trinkle, J.C.
Author_Institution :
Dept. of Math. Sci., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
This paper formally introduces several stability characterizations of fixtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. These characterizations, weak stability and strong stability, arise naturally from the dynamic model of the system, formulated as a complementarity problem. Using the tools of complementarity theory, these characterizations are studied in detail to understand their properties and to develop techniques to identify the stability classifications of general systems subjected to known external loads
Keywords :
dynamics; friction; mechanical stability; 3D rigid bodies; Coulomb friction; complementarity theory; dynamic model; strong stability; weak stability; Cams; Equations; Fixtures; Friction; Gears; Mechanical factors; Mechanical systems; Robots; Stability; Testing;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844083
