Quasi-static Stability Analysis of Frictionless Planar Enveloping Grasps (Analysis of curvature effects at contact points)

DOI

説明

In this paper, we discuss grasp stability of frictionless planar enveloping grasps. The grasp stability is based on potential energy of the grasp system replaced with an elastic system. A stiffness matrix of the grasp system is derived. The grasp stability is evaluated by the eigenvalues of the matrix. We show that the matrix depends on grasp positions, grasp forces, local curvatures, etc., at contact points. Moreover, we analyze curvature effects on the grasp system by differentiating the matrix by the curvatures. We show that the derivative is negative semi definite.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390015333257564928
  • DOI
    10.5954/icarob.2023.gs5-4
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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