Abstract
This paper deals with the stability of a rigid body under multiple contact forces. First, the problem considered at the force planning level, and the stability of a force distribution is formulated. Analytical conditions for the stability of a force distribution, considered under unilateral frictional constraints, are studied on an illustrative example. Next, it is shown that stabilization of an unstable force distribution can be done by a simple control law. The stability conditions for this control law are formulated in terms of the force-induced stiffness tensor and the control-spring-induced stiffness tensor calculated at the stiffness center. Finally, comments on the contradiction between the Lyapunov stability and the contact stability of the objects are drawn.
| Original language | English |
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| Pages | 412-417 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 1999 |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: Oct 17 1999 → Oct 21 1999 |
Other
| Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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| City | Kyongju, South Korea |
| Period | 10/17/99 → 10/21/99 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications