there have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. however undesired slippage can occur due to environmental conditions and many other reasons. in this research, dynamic analysis and control synthesis of a cooperating ...

This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and fric...

A 3-dimensional finite element algorithm for modeling nonlinear frictional contact behaviours between deformable bodies with the node-to-point contact element strategy has been proposed and applied here to investigate stress evolution processes of a nonlinear frictional contact system. The numerical results of a typical intra-plate fault bend model demonstrate the efficiency and usefulness of t...

Simulating frictional contact between objects with complex geometry is important for 6-DoF haptic rendering applications. For example, friction determines whether components can be navigated past narrow clearances in virtual assembly. State-of-the-art haptic rendering of frictional contact either augments penalty contact with frictional penalty springs, which do not prevent sliding and cannot r...

A new monolithic solution scheme for thermo-elasto-plasticity and thermo-elasto-plastic frictional contact with finite deformations and finite strains is presented. A key feature is the reformulation of all involved inequality constraints, namely those of Hill’s orthotropic yield criterion as well as the normal and tangential contact constraints, in terms of non-smooth nonlinear complementarity...

a plain strain analysis of frictional rolling contact on an elastic graded coating is presented in this paper. finite element method is applied to gain an understanding of the stresses and contact zone properties caused during rolling contact. the effects of friction, material stiffness ratio and coating thickness on stresses in contact zone and coating/substrate interface are studied. shear mo...

This paper discusses the stability of 2D frictionless grasps and combining stability of frictional and frictionless grasps from the viewpoint of potential energy method. In many works related to the frictionless grasp, each finger is replaced by one directional virtual spring along the normal at the contact point. However, this condition is not accurate, because the frictionless condition does ...