Computing Wrench Cones for Planar Rigid Body Contact Tasks
Computing Wrench Cones for Planar Rigid Body Contact Tasks
复制标题
用于平面刚体接触任务的计算扳手锥体
DOI：
10.1177/0278364902021012003
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
J. Trinkle
中科院分区：
文献类型：
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作者：
Devin J. Balkcom;J. Trinkle
本文的贡献是扩大了接触任务的分析、规划和控制的可能性范围。任何接触任务的成功执行基本上都需要与任务一致的扳手（力和力矩）的应用。我们开发了一种算法，用于计算与实现给定的增强接触模式一致的外部扳手的整个集合（例如，在触点1处滑动，在触点2处滚动，以及接近电位触点3）。不幸的是，由于摩擦不确定性的问题，通常不足以确定与实现接触模式一致的扳手组。某些计算出的扳手也可能与其他不良接触模式一致。然而，我们的算法返回的圆锥体上的集合操作可以被设计为仅与期望的接触模式一致地找到扳手。在本文中，我们还提出了一些应用程序的算法分析和规划问题。我们展示了如何使用集合运算来计算一组外部扳手，相对于固定的部分是“强稳定”。如果使用的外部扳手在此套件中，则保证零件不会移动。我们还展示了如何使用该算法来创建无传感器计划，保证工件将被正确地插入到夹具中。
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of external wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane. Unfortunately, because of the problem of frictional indeterminacy, it is usually not enough to determine the set of wrenches consistent with achieving a contact mode. Some of the computed wrenches may also be consistent with other undesirable contact modes. However, set operations on the cones returned by our algorithm can be designed to find the wrenches consistent only with desired contact modes. In this paper we also present some applications of the algorithm to analysis and planning problems. We show how to use set operations to compute the set of external wrenches with respect to which a fixtured part is `strongly stable'. If the applied external wrench is in this set, the part is guaranteed not to move. We also show how the algorithm may be used to create sensorless plans that guarantee that a workpiece will be correctly inserted into a fixture.