Title :
A quantitative stability measure for graspless manipulation
Author :
Maeda, Yusuke ; Arai, Tamio
Author_Institution :
Dept. of Precision Eng., Univ. of Tokyo, Japan
Abstract :
The stability of objects in graspless manipulation (or nonprehensile manipulation) is investigated. In contrast with the stability of grasps, it is crucial for the stability of graspless manipulation to evaluate frictional forces applied to objects in contact motion. We formulate the effect of Coulomb friction and propose a quantitative stability measure for graspless manipulation. The measure can be calculated approximately with linear programming. Finally, we show numerical examples. Our stability measure will be useful in planning of graspless manipulation
Keywords :
force control; friction; linear programming; manipulators; position control; stability; Coulomb friction; contact motion; frictional forces; graspless manipulation; linear programming; nonprehensile manipulation; quantitative stability measure; Current measurement; Fingers; Force measurement; Friction; Gravity; Linear approximation; Motion planning; Precision engineering; Robots; Stability;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013603
