Title :
Analytical conditions for the rotational stability of an object in multi-finger grasping
Author :
Svinin, M.M. ; Ueda, K. ; Kaneko, M.
Author_Institution :
Dept. of Mech. Eng., Kobe Univ., Japan
Abstract :
Deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. Necessary and sufficient conditions of positive definiteness of the stiffness tensor are established in an analytical form. Partial cases of the contact force distribution are analyzed. For the gravity-induced stiffness, conditions for stability are presented in terms of geometric and gravity centers. The internal forces are introduced with the use of a virtual spring model. Within this representation, conditions for stability under internal force loading are formulated in terms of the stiffness of the virtual springs
Keywords :
dexterous manipulators; eigenvalues and eigenfunctions; matrix algebra; stability; tensors; analytical conditions; constant contact forces; contact force distribution; internal force loading; multi-finger grasping; necessary and sufficient conditions; positive definiteness; rigid body; rotational stability; stiffness tensor; virtual spring model; Fingers; Grasping; Gravity; Jacobian matrices; Matrix decomposition; Mechanical engineering; Springs; Stability analysis; Sufficient conditions; Tensile stress;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769981
