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Mobility of bodies in contact. II. How forces are generated bycurvature effects

Rimon, Elon and Burdick, Joel W. (1998) Mobility of bodies in contact. II. How forces are generated bycurvature effects. IEEE Transactions on Robotics and Automation, 14 (5). pp. 709-717. ISSN 1042-296X. http://resolver.caltech.edu/CaltechAUTHORS:RIMieeetra98b

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Abstract

For part I, see ibid., p.696-708. The paper considers how forces are produced by compliance and surface curvature effects in systems where an object a is kinematically immobilized to second-order by finger bodies Al,...,Ak. A class of configuration-space based elastic deformation models is introduced. Using these elastic deformation models, it is shown that any object which is kinematically immobilized to first or second-order is also dynamically locally asymptotically stable with respect to perturbations. Moreover, it is shown that for preloaded grasps kinematic immobility implies that the stiffness matrix of the grasp is positive definite. The stability result provides physical justification for using second-order effects for purposes of immobilization in practical applications. Simulations illustrate the concepts.


Item Type:Article
Additional Information:© Copyright 1998 IEEE. Reprinted with permission. Manuscript received September 28, 1994; revised June 20, 1997. This paper was supported by the Office of Naval Research Young Investigator Award N00014-92-J-1920.This paper was recommended for publication by Associate Editor Y. Nakamura and Editor A. Goldenberg upon evaluation of the reviewers’ comments. The authors would like to thank Dr. M. Mason for calling their attention to the ellipse paradox.
Subject Keywords:Compliance modeling, configuration space, contact, dynamics, fixturing, geometry, grasping, kinematics, stability
Record Number:CaltechAUTHORS:RIMieeetra98b
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:RIMieeetra98b
Alternative URL:http://dx.doi.org/10.1109/70.720347
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5734
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:30 Oct 2006
Last Modified:26 Dec 2012 09:14

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