Analysis of indeterminate contact forces in robotic grasping and contact tasks

被引：0
|
作者：
Maeda, Yusuke [1 ]
Oda, Koutarou [2 ]
Makita, Satoshi [2 ]
机构：
[1] Yokohama Natl Univ, Fac Engn, Div Syst Res, Hodogaya Ku, 79-5 Tokiwadai, Yokohama, Kanagawa 2408501, Japan
[2] Yokohama Natl Univ, Grad Sch Engn, Dept Engn Mech, Div Syst Integrat, Yokohama, Kanagawa, Japan
来源：
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we analyze indeterminate contact forces in robotic grasping and contact tasks. Previous studies by Omata and Nagata showed that there is a constraint on static friction forces, which is derived from contact kinematics, in rigid-body power grasps. The set of possible contact forces can be calculated using the constraint. This approach can be applied to not only mechanical analysis of power grasps but also that of other robotic contact tasks. However, there are some cases where Omata and Nagata's formulation generates paradoxical results on contact forces. In this paper, we investigate this problem and propose a modified method to calculate the set of possible indeterminate contact forces. We also study how to reduce the computation.
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页码：1576 / +
页数：2
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