Author:
Luo Chen,Zhu LiMin,Ding Han
Abstract
SUMMARYThis paper presents a new method to analyze frictionless grasp immobility based on defined surface-to-surface signed distance function. Distance function's differential properties are analyzed and its second-order Taylor expansion with respect to differential motion is deduced. Based on the non-negative condition of the signed distance function, the first- and second-order free motions are defined and the corresponding conditions for immobility of frictionless grasp are derived. As one benefit of the proposed method, the second-order immobility check can be formulated as a nonlinear programming problem. Numerical examples are used to verify the proposed method.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
5 articles.
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