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When quasistatic jamming is impossible

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3 Author(s)
Trinkle, J.C. ; Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA ; Yeap, S.L. ; Han, L.

We propose a new condition to test for the impossibility of jamming in three-dimensional, quasistatic multi-rigid-body systems. Our condition can be written as a feasibility problem for a system of linear inequalities and therefore can be checked using linear programming techniques. To demonstrate the use of our jamming test, we apply it to a simple dexterous manipulation task and to the well-known peg-in-hole insertion problem

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996