A configuration space friction cone
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 455 - 460, November, 1991
Abstract
Provides a geometric representation of friction for a rigid planar part with two translational and one rotational degrees of freedom. The construction of a generalized friction cone is accomplished by imbedding into the part's configuration space the constraints that define the classical friction cone in real space. The resulting representation provides a simple computational method for determining the possible motions of a part subjected to an applied force and torque. The representation has been used both for simulating part motions and for planning assembly operations. Generalizations to the six-dimensional configuration space of a three-dimensional part are possible.
BibTeX
@conference{Erdmann-1991-13309,author = {Michael Erdmann},
title = {A configuration space friction cone},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1991},
month = {November},
volume = {2},
pages = {455 - 460},
}
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