Computing Wrench cones for planar contact tasks

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2002, Pages 869-875

  Balkcom, Devin J ^a   Trinkle, J C ^b   Gottlieb, E J ^b  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b SANDIA NATIONAL LABORATORIES   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTATIONAL GEOMETRY; MATHEMATICAL MODELS; MOTION PLANNING;

PLANAR CONTACT TASKS; WRENCH CONES;

ROBOTICS;

EID: 0036059985     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2002.1013466     Document Type: Article

References (11)

1. A sensorless insertion strategy for rigid planar parts
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4. Polyhedral convex cones
5. Analysis and planning of manipulation using the theory of polyhedral convex cones
6. Mechanical systems of rigid bodies subject to unilateral constraints
7. Stability characterizations of rigid body contact problems with coulomb friction
8. On dynamic multi-rigid-body contact problems with coulomb friction