The Robotics Institute
Carnegie Mellon Robotics Institute
Computing Wrench Cones for Planar Contact Tasks
Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb
ICRA, May, 2002.
| Abstract |
| The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of wrenches consistent with achieving a given augmented contact mode ( e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane. |
| Keywords |
| rigid bodies, planar contact tasks, force control, assembly planning, fixturing, grasping |
| Notes |
 Associated Center(s) / Consortia:
Center for the Foundations of Robotics Associated Lab(s) / Group(s):
Manipulation Lab Number of pages: 7 |
| Text Reference |
| Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb, "Computing Wrench Cones for Planar Contact Tasks," ICRA, May, 2002. |
| BibTeX Reference |
|
@inproceedings{Balkcom_2002_3999, author = "Devin Balkcom and Jeffrey C. Trinkle and Eric J. Gottlieb", title = "Computing Wrench Cones for Planar Contact Tasks", booktitle = "ICRA", month = "May", year = "2002", } |
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