Methodology for Controlling Contact Forces in Interactive Grasping Simulation
نویسندگان
چکیده
منابع مشابه
Determination of contact forces in grasping
The determination of contact forces between a grasped object andfingers of a robot hand is treated in this research. In the previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping orpower grasps, the latter assumption does not always hold because some components of the contact forces may not be controlla...
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Analysis and characterization of contact forces are important in fixture design and robotic grasping since they define the object stability during fixturing or grasping. This paper presents a description of passive forces arising at the normal and frictional contacts by passive physical means. The passivity nature requires application of the minimum norm principle to solve a constrained quadrat...
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ژورنال
عنوان ژورنال: International Journal of Virtual Reality
سال: 2011
ISSN: 1081-1451
DOI: 10.20870/ijvr.2011.10.2.2805