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",
}