Computation and analysis of compliance in grasping and fixturing

Lin, Qiao and Burdick, Joel and Rimon, Elon (1997) Computation and analysis of compliance in grasping and fixturing. In: Proceedings of 1997 International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 93-99. ISBN 0-7803-3612-7. https://resolver.caltech.edu/CaltechAUTHORS:20190612-161141245

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Abstract

This paper presents a method to compute stiffness matrices for compliant grasps and fixtures. While the linear spring contact model has been widely used by robotics researchers, it is in general not accurate for practical applications. More realistic models, including the well-verified Hertz model, are incorporated by use of overlap functions. We derive a stiffness matrix formula that considers surface and material properties of the contacting bodies and applies to both planar and solid grasps. The effects of contact geometry are analyzed and illustrated with examples.

Item Type:

Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1997.620021	DOI	Article

Additional Information:

DOI:

10.1109/ROBOT.1997.620021

Record Number:

CaltechAUTHORS:20190612-161141245

Persistent URL:

https://resolver.caltech.edu/CaltechAUTHORS:20190612-161141245

Official Citation:

Q. Lin, J. Burdick and E. Rimon, "Computation and analysis of compliance in grasping and fixturing," Proceedings of International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, pp. 93-99 vol.1. doi: 10.1109/ROBOT.1997.620021

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ID Code:

96355

Collection:

CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

13 Jun 2019 14:59

Last Modified:

16 Nov 2021 17:20

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