Computing wrench cones for planar rigid body contact tasks

International Journal of Robotics Research

Volumn 21, Issue 12, 2002, Pages 1053-1066

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

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b Rensselaer Polytechnic Institute   (United States)

Author keywords

Assembly; Contact modes; Contact tasks; Fixturing; Grasp analysis; Multibody dynamics; Polyhedral convex cones; Rigid bodies; Sensorless insertion

Indexed keywords

ALGORITHMS; COMPUTATIONAL METHODS; FORCE CONTROL; FRICTION; GRIPPERS; MOTION CONTROL; MOTION PLANNING;

CONTACT MODES; CONTACT TASKS; GRASP ANALYSIS; MULTIBODY DYNAMICS; POLYHEDRAL CONVEX CONES; SENSORLESS INSERTION;

CONTACT SENSORS;

EID: 0036959241     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364902021012003     Document Type: Article

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