Abstract
This paper presents a technique for analyzing spatial, dynamic manipulation problems involving multiple frictional contacts. The basis of this technique is to transform the negative contact forces on and the desired motion of a rigid body into instantaneous axes of rotation. These axes are directed lines or spears. The direction is determined by the sense of the rotation about the lines. A force capable of producing the desired motion must lie within the convex hull of the these rotation axes. This condition does not use force magnitudes and is therefore necessary, but not sufficient.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
R. C. Brost and M. T Mason. Graphical Analysis of Planar Rigid-body Dynamics with Multiple Frictional Contacts. Robotics Research, Fifth International Symposium, 293–300 (1988).
O. Veblen and J. W. Young. Projective Geometry. Ginn and Company, Boston (1910).
O. Bottema and B. Roth. Theoretical Kinematics. North Holland Publ., Amsterdam (1979).
J. Kerr and B. Roth. Analysis of Multifingered Hands. Int. J. of Robotics Research, 4 (4): 3–17 (1985).
V.-D. Nguyen. Constructing Force Closure Grasps. Int. J. of Robotics Research, 7 (3): 3–16 (1988).
J. K. Salisbury and B. Roth. Kinematics and Analysis of Articulated Mechanical Hands. ASME J. of Mech., Trans., and Auto. in Des., ASME-105:35–41 (1983).
W. D. MacMillan. Dynamics of Rigid Bodies. Dover Publications, New York, USA (1936).
F. Reuleaux. The Kinematics of Machinery. Dover Press, New York, USA (1875).
X. Markenscoff, L. Ni, and C. H. Papadimitiou. The Geometry of Grasping. Int. J. of Robotics Research, 9 (1): 61–74 (1990).
J. Ponce, S. Sullivan, J.-D. Boissonnat, and J.-P. Merlet. On Characterizing and Computing Three-and Four-Finger Force-Closure Grasps on Polyhedral Objects. Proc. IEEE Robotics and Automation Conf., 2:821–827 (1993). Atlanta, USA.
A. J. Goldman and A. W. Tucker. Polyhedral Convex Cones. Linear Inequalities and Related Systems. (H. W. Kuhn and A. W. Tucker, Eds.) Princeton Univ. Press (1956).
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Dooley, J.R., Ravani, B. (1994). Geometric Analysis of Spatial Rigid-Body Dynamics with Multiple Friction Contacts. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_7
Download citation
DOI: https://doi.org/10.1007/978-94-015-8348-0_7
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
Online ISBN: 978-94-015-8348-0
eBook Packages: Springer Book Archive