Title :
Multi-arm/finger grasping: one view to the stability problem
Author :
Svinin, M.M. ; Kaneko, M. ; Tsuji, T.
Author_Institution :
Dept. of Ind. & Syst. Eng., Hiroshima Univ., Japan
Abstract :
The paper deals with the rotational stability of a rigid body under the constant internal forces. For this problem, first, the stiffness tensor is constructed and its basic properties are analyzed. The internal force parameterization is done with the use of the virtual linkage/spring model. Within this parameterization, necessary and sufficient conditions of stability are obtained in the analytical form. In the space of the internal forces they form a region given by intersection of a plane and a singular quadric. Since the stability conditions guarantee only positive definiteness of the stiffness tensor, the contact friction is taken into account separately. In this paper analysis of the unilateral constraints is done under a study case, where achieving stable grasp of a convex object, with the stretching internal forces created by friction, is studied in an analytical example
Keywords :
friction; manipulators; stability; tensors; constant internal forces; contact friction; internal force parameterization; multi-arm/finger grasping; necessary and sufficient conditions; positive definiteness; rigid body; rotational stability; stiffness tensor; unilateral constraints; virtual linkage/spring model; Fingers; Force control; Friction; Grasping; Robust stability; Springs; Stability analysis; Strain control; Systems engineering and theory; Tensile stress;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619274