A configuration space friction cone

Michael Erdmann
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, December, 1991, pp. 455 - 460.


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Abstract
Provides a geometric representation of friction for a rigid planar part with two translational and one rotational degrees of freedom. The construction of a generalized friction cone is accomplished by imbedding into the part's configuration space the constraints that define the classical friction cone in real space. The resulting representation provides a simple computational method for determining the possible motions of a part subjected to an applied force and torque. The representation has been used both for simulating part motions and for planning assembly operations. Generalizations to the six-dimensional configuration space of a three-dimensional part are possible.

Notes

Text Reference
Michael Erdmann, "A configuration space friction cone," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, December, 1991, pp. 455 - 460.

BibTeX Reference
@inproceedings{Erdmann_1991_3633,
   author = "Michael Erdmann",
   title = "A configuration space friction cone",
   booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems",
   pages = "455 - 460",
   month = "December",
   year = "1991",
   volume = "2",
}