Analytical conditions for the rotational stability of an object in multi-finger grasping

M. M. Svinin, K. Ueda, M. Kaneko

Research output: Contribution to journalConference article

12 Citations (Scopus)

Abstract

This paper 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.

Original languageEnglish
Pages (from-to)257-262
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - Jan 1 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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