Computing Wrench Cones for Planar Rigid Body Contact Tasks

@article{Balkcom2002ComputingWC,
  title={Computing Wrench Cones for Planar Rigid Body Contact Tasks},
  author={Devin J. Balkcom and Jeffrey C. Trinkle},
  journal={I. J. Robotics Res.},
  year={2002},
  volume={21},
  pages={1053-1066}
}
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of external wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3… CONTINUE READING
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