主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2023
開催日: 2023/06/28 - 2023/07/01
This paper discusses grasp stability of planar enveloping grasps with rolling contact. The grasp system is replaced with an elastic system. Potential energy of the grasp system is formulated. Grasp wrench and grasp stiffness matrix of the system are derived. The grasp stability is evaluated by the eigenvalues of the matrix. Curvature effect is analyzed by differentiating the matrix by the curvatures.