Analysis of object-stability and internal force in robotic contact tasks

Author

Maeda, Yusuke ; Aiyama, Yasumichi ; Arai, Tamio ; Ozawa, Taiga

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

Volume

2

fYear

1996

fDate

4-8 Nov 1996

Firstpage

751

Abstract

The stability of an object manipulated by multiple robots (serial-link or wire-driven mechanisms) in contact tasks is investigated. We show that resultant force/moment applicable to the object through the contacts is represented as a polyhedral convex region in force/moment space. Then we propose a stability measure and a method of calculating it approximately by linear programming technique. We also present a linear programming-based algorithm to judge the possibility of excessive internal force in contact tasks by position-controlled robots

Keywords

linear programming; manipulators; stability; excessive internal force; force/moment space; internal force; multiple robots; object-stability; polyhedral convex region; position-controlled robots; robotic contact tasks; serial-link robots; stability measure; wire-driven mechanisms; Force control; Friction; Gravity; Linear approximation; Linear programming; Machinery; Orbital robotics; Robots; Stability; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.571046

Filename

571046