Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Paper
Quasi-static Analysis of Contact Forces in Robotic Manipulation
—A New Formulation and Its Application to Evaluating Robustness of Graspless Manipulation—
Satoshi MakitaYoshinobu GotoYusuke Maeda
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JOURNAL FREE ACCESS

2013 Volume 31 Issue 10 Pages 1009-1018

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Abstract
In this paper, an analysis of contact forces in quasi-static manipulation under rigid-body mechanics is studied. To evaluate the contact forces, we introduce a modified version of constraint on friction forces, which was originally derived for statics of power grasps by Omata et al. Furthermore, using the constraint, we also present a robustness measure for quasi-static graspless manipulation such as pushing and tumbling. The measure evaluates how much the object can resist external disturbances without changing its motion. We can calculate the measure approximately by solving linear programming problems. We show some numerical examples to prove that our proposed method can evaluate robustness of graspless manipulation more accurately than previous methods, and experimentally verify the calculation results.
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© 2013 The Robotics Society of Japan
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