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.
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© 1994 Springer Science+Business Media Dordrecht
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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
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DOI: https://doi.org/10.1007/978-94-015-8348-0_7
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
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