A polyhedral bound on the indeterminate contact forces in planar quasi-rigid fixturing and grasping arrangements

IEEE Transactions on Robotics

Volumn 22, Issue 2, 2006, Pages 240-255

  Rimon, Elon ^a   Burdick, Joel W ^b   Omata, Toru ^c  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

^b California Institute of Technology   (United States)

^c TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Fixturing; Grasping; Polyhedral bound; Statically indeterminate contact forces

Indexed keywords

COMPUTATIONAL GEOMETRY; CONTROL SYSTEM SYNTHESIS; HAND TOOLS; KINEMATICS; MATHEMATICAL MODELS; ROBUSTNESS (CONTROL SYSTEMS);

CONTACT MECHANICS; FIXTURING; GRASPING; POLYHEDRAL BOUND; STATICALLY INDETERMINATE CONTACT FORCES;

MOBILE ROBOTS;

EID: 33645805471     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.862478     Document Type: Article

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