Enveloping Grasp Feasibility Inequality
نویسندگان
چکیده
The enveloping grasp feasibility inequality is formulated in this article using a coordinate transformation based on the concept of frictional degrees-of-freedom. Various analysis and synthesis problems pertinent to enveloping grasp of whole-limb systems can be handled within the same mathematical framework, even under the situation where statically indeterminate contact forces exists. Simulations are also shown to explain the basic idea.
منابع مشابه
Analysis of frictional forces in indeterminate enveloping grasps
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