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A novel curvature-based method for analyzing the second-order immobility of frictionless grasp

Published online by Cambridge University Press:  28 July 2011

Chen Luo,
LiMin Zhu and
Han Ding
Chen Luo
Affiliation:
School of Mechanical Engineering, Southeast University, Nanjing 210096, P. R. China
LiMin Zhu*
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, P. R. China
Han Ding
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, P. R. China
*
*Corresponding author. E-mail: zhulm@sjtu.edu.cn
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This 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.

Keywords

Signed distance functionGraspFrictionless contactFree motion

Information

Type
Articles
Information
Robotica , Volume 30 , Issue 4 , July 2012, pp. 613 - 625
Copyright
Copyright © Cambridge University Press 2011

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