Multi-arm/finger grasping: One view to the stability problem

Mikhail Mikhailovich Svinin, M. Kaneko, T. Tsuji

Research output: Contribution to journalConference article

Abstract

The paper deals with the rotational stability of a rigid body under the constant internal forces. For this problem, first, the stiffness tensor is constructed and its basic properties are analyzed. The internal force parameterization is done with the use of the virtual linkage/spring model. Within this parameterization, necessary and sufficient conditions of stability are obtained in the analytical form. In the space of the internal forces they form a region given by intersection of a plane and a singular quadric. Since the stability conditions guarantee only positive definiteness of the stiffness tensor, the contact friction is taken into account separately. In this paper analysis of the unilateral constraints is done under a study case, where achieving stable grasp of a convex object, with the stretching internal forces created by friction, is studied in an analytical example.

Original languageEnglish
Pages (from-to)2109-2114
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - Jan 1 1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: Apr 20 1997Apr 25 1997

Fingerprint

stiffness
parameterization
friction
Parameterization
Tensors
Stiffness
Friction
Stretching
analysis

All Science Journal Classification (ASJC) codes

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

Cite this

Multi-arm/finger grasping : One view to the stability problem. / Svinin, Mikhail Mikhailovich; Kaneko, M.; Tsuji, T.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 3, 01.01.1997, p. 2109-2114.

Research output: Contribution to journalConference article

Svinin, Mikhail Mikhailovich ; Kaneko, M. ; Tsuji, T. / Multi-arm/finger grasping : One view to the stability problem. In: Proceedings - IEEE International Conference on Robotics and Automation. 1997 ; Vol. 3. pp. 2109-2114.
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