Paper Info
Title
Computation And Graphical Characterization Of Robust Multiple-Contact Postures In 2d Gravitational Environments
Abstract
This paper is concerned with the problem of identifying robust equilibrium postures of a planar mechanism supported by fixed frictional contacts in a two-dimensional gravitational field. The complex kinematic structure of the mechanism is lumped into a single rigid body, B, with a variable center of mass. Inertial forces generated by moving parts of the mechanism are lumped into a neighborhood of wrenches centered at the nominal gravitational wrench. The identification of the robust equilibrium postures associated with a given set of contacts is reduced to the identification of center-of-mass locations that maintain equilibrium of B with respect to any wrench in the given neighborhood. The static response of B to an external wrench involves static indeterminacy and frictional constraints. The region of center-of-mass locations that generate equilibrium with respect to a particular external wrench is formulated as a linear programming problem, and a full graphical characterization is provided. The result is then generalized to robust equilibrium postures that resist a neighborhood of external wrenches. Finally, we present experimental results that validate the criteria for feasible equilibrium postures.
Year
DOI
Venue
2005
10.1109/ROBOT.2005.1570127
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4
Keywords
Field
DocType
center of mass,robustness,linear programming,linear program,resists,friction,general equilibrium,constraint optimization,rigid body,kinematics
Kinematics,Control theory,Gravitational field,Rigid body,Robustness (computer science),Control engineering,Wrench,Fictitious force,Engineering,Constrained optimization,Computation
Conference
Volume
Issue
ISSN
2005
1
1050-4729
Citations 
PageRank 
References 
5
0.54
19
Authors
3
Name
Order
Citations
PageRank
Yizhar Or19013.15
Elon Rimon21128157.34
Y Or350.54