Computing Wrench Cones for Planar Contact Tasks
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 869 - 875, May, 2002
Abstract
The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of wrenches consistent with achieving a given augmented contact mode ( e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane.
BibTeX
@conference{Balkcom-2002-8436,author = {Devin Balkcom and Jeffrey C. Trinkle and Eric J. Gottlieb},
title = {Computing Wrench Cones for Planar Contact Tasks},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2002},
month = {May},
volume = {1},
pages = {869 - 875},
keywords = {rigid bodies, planar contact tasks, force control, assembly planning, fixturing, grasping},
}
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