Date of Original Version

1991

Type

Conference Proceeding

Abstract or Description

Provides a geometric representation of friction for a rigid planar part with two translational and one rotational degrees of freedom. The construction of a generalized friction cone is accomplished by imbedding into the part's configuration space the constraints that define the classical friction cone in real space. The resulting representation provides a simple computational method for determining the possible motions of a part subjected to an applied force and torque. The representation has been used both for simulating part motions and for planning assembly operations. Generalizations to the six-dimensional configuration space of a three-dimensional part are possible.

Comments

"©1991 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

Included in

Robotics Commons

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Published In

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, 455-460.