On the Possibility of Excessive Internal Forces on Manipulated Objects in Robotic Contact Tasks
On the Possibility of Excessive Internal Forces on Manipulated Objects in Robotic Contact Tasks
复制标题
机器人接触任务中被操纵物体内力过大的可能性
DOI：
10.1109/robot.2005.1570397
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Y. Maeda
中科院分区：
文献类型：
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作者：
Y. Maeda
在本文中，我们研究过多的内力施加到操作对象在机器人接触任务。这种内力可能会对物体和/或机器人造成严重损坏;因此，事先评估过大内力的可能性非常重要。我们提出了一种方法来判断操作对象上的过度内力的可能性。该判断基于库仑摩擦的刚体力学，通过求解一系列线性规划问题给出。我们给出了一些数值例子的判断，我们所提出的方法。
In this paper, we study excessive internal forces applied to manipulated objects in robotic contact tasks. Such internal forces may cause serious damage to the objects and/or robots; thus, prior assessment of the possibility of excessive internal forces is very important. We propose a method to judge the possibility of excessive internal forces on manipulated objects. The judgment is based on rigid-body mechanics with Coulomb friction and given by solving a series of linear programming problems. We show some numerical examples of the judgment by our proposed method.