Computation and analysis of compliance in grasping and fixturing
نویسندگان
چکیده
| This paper presents a method to compute stiiness matrices for compliant grasps and xtures. While the linear spring contact model has been widely used by robotics researchers, it is in general not accurate for practical applications. More realistic models, including the well-veriied Hertz model, are incorporated by use of overlap functions. We derive a stiiness matrix formula that considers surface and material properties of the contacting bodies and applies to both planar and solid grasps. The eeects of contact geometry are analyzed and illustrated with examples.
منابع مشابه
Grasping and Fixturing: a Geometric Study and an Implementation
Grasping and Fixturing: a Geometric Study and an Implementation
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