Computation and Analysis of Natural Compliance in Fixturing and Grasping Arrangements

IEEE Transactions on Robotics

Volumn 20, Issue 4, 2004, Pages 651-667

  Lin, Qiao ^a   Burdick, Joel W ^b   Rimon, Elon ^c  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b California Institute of Technology   (United States)

^c TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

Compliance; contact models; curvature effects; fixture planning; fixturing; grasp planning; grasping; stability; stiffness; stiffness matrix

Indexed keywords

APPROXIMATION THEORY; COMPUTATIONAL METHODS; COMPUTER AIDED DESIGN; GEOMETRY; GRIPPERS; KINEMATICS; MATHEMATICAL MODELS; STIFFNESS MATRIX; SYSTEM STABILITY; THEOREM PROVING;

CONTACT MODELS; CURVATURE EFFECTS; FIXTURE PLANNING; GRASP PLANNING;

MOTION PLANNING;

EID: 4344702340     PISSN: 15523098     EISSN: 19410468     Source Type: Journal    
DOI: 10.1109/TRO.2004.829470     Document Type: Article

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