On the Possibility of Excessive Internal Forces on Manipulated Objects in Robotic Contact Tasks

In this paper, we study excessive internal forces applied to manipulated objects in robotic contact tasks. Such internal forces may cause serious damage to the objects and/or robots; thus, prior assessment of the possibility of excessive internal forces is very important. We propose a method to judge the possibility of excessive internal forces on manipulated objects. The judgment is based on rigid-body mechanics with Coulomb friction and given by solving a series of linear programming problems. We show some numerical examples of the judgment by our proposed method.