Analytical conditions for the rotational stability of an object in multi-finger grasping
作者： K. Ueda , M. Kaneko , M.M. Svinin
DOI: 10.1109/ROBOT.1999.769981
关键词:
摘要: Deals with the rotational stability of a rigid body under constant contact forces. For this system, stiffness tensor is derived, and its basic properties are analyzed. Necessary sufficient conditions positive definiteness established in an analytical form. Partial cases force distribution gravity-induced stiffness, for presented terms geometric gravity centers. The internal forces introduced use virtual spring model. Within representation, loading formulated springs.
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