By Topic

When quasistatic jamming is impossible

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

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