DocumentCode
2019717
Title
Stability characterizations of fixtured rigid bodies with Coulomb friction
Author
Pang, J.S. ; Trinkle, J.C.
Author_Institution
Dept. of Math. Sci., Johns Hopkins Univ., Baltimore, MD, USA
Volume
1
fYear
2000
fDate
2000
Firstpage
361
Abstract
This paper formally introduces several stability characterizations of fixtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. These characterizations, weak stability and strong stability, arise naturally from the dynamic model of the system, formulated as a complementarity problem. Using the tools of complementarity theory, these characterizations are studied in detail to understand their properties and to develop techniques to identify the stability classifications of general systems subjected to known external loads
Keywords
dynamics; friction; mechanical stability; 3D rigid bodies; Coulomb friction; complementarity theory; dynamic model; strong stability; weak stability; Cams; Equations; Fixtures; Friction; Gears; Mechanical factors; Mechanical systems; Robots; Stability; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844083
Filename
844083
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