The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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, November, 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 = "November",
   year = "1991",
   volume = "2",
}

The Robotics Institute

Menu