Computing Wrench Cones for Planar Rigid Body Contact Tasks
نویسندگان
چکیده
منابع مشابه
Computing Wrench Cones for Planar Rigid Body Contact Tasks
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. 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 external wrenches consistent with achieving a given augmented c...
متن کاملWrench Cones for Planar Rigid Body Contact Tasks
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. 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 external wrenches consistent with achieving a given augmented c...
متن کاملComputing Wrench Cones for Planar Contact Tasks
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.
متن کاملIdentifiability Analysis of Planar Rigid-Body Frictional Contact
This paper addresses the identifiability of the inertial parameters and the contact forces associated with an object making and breaking frictional contact with the environment. Our goal is to explore under what conditions, and to what degree, the observation of physical interaction, in the form of motions and/or forces, is indicative of the underlying dynamics that governs it. In this initial ...
متن کاملCompliant contact models for rigid body collisions
Previous work in rigid body dynamic simulation has relied on rigid body impact models to model collisions. The well-known models due to Newton, Poisson, and Brach, are each based on a deenition of a coeecient of restitution for rigid body impact. The objective of this paper is to develop a new model that overcomes the deeciencies of these models in frictional impacts and to present a formulatio...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2002
ISSN: 0278-3649,0000-0000
DOI: 10.1177/027836402128964198