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 language | English |
|---|---|
| Pages (from-to) | 257-262 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| Publication status | Published - Jan 1 1999 |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: May 10 1999 → May 15 1999 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering