Dynamic whole-arm dexterous manipulation in the plane
نویسندگان
چکیده
A dynamic model Whole-Arm Dexterous Manipulation In The Plane S.L. Yeap J.C. Trinkle Dept. of CS syeap@cs. tamu.edu Dept. of CS trink@cs . t amu.edu Texas A&M University, College Station, TX 77843-31 12 ' of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact forces between the object and manipulator are calculated to determine whether contacts can be maintained for the planned motion. Compressive contact forces indicate that contacts can be maintained fo r the specified manipulation plan and this implies that actual dynamic manipulation succeeds. Results of the solution of dynamic equations are given fo r selected objects and video images of successful plans are shown.
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