A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces
A computable model of grasping and manipulation of a 3D rigid object with arbitrary smooth surfaces by multiple robot fingers with smooth fingertip surfaces is derived under rolling contact constraints between surfaces. Geometrical conditions of pure rolling contacts are described through the moving...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Modelling and Simulation in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/684034 |
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