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

Volume

1

fYear

1999

fDate

1999

Firstpage

257

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.769981

Filename

769981