By Topic

Analysis of object-stability and internal force in robotic contact tasks

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
$31 $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

4 Author(s)
Maeda, Y. ; Dept. of Precision Machinery Eng., Tokyo Univ., Japan ; Aiyama, Y. ; Arai, T. ; Ozawa, T.

The stability of an object manipulated by multiple robots (serial-link or wire-driven mechanisms) in contact tasks is investigated. We show that resultant force/moment applicable to the object through the contacts is represented as a polyhedral convex region in force/moment space. Then we propose a stability measure and a method of calculating it approximately by linear programming technique. We also present a linear programming-based algorithm to judge the possibility of excessive internal force in contact tasks by position-controlled robots

Published in:

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

4-8 Nov 1996