Computing Wrench Cones for Planar 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 wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Devin J. Balkcom, Jeffrey C. Trinkle, E. J. Gottlieb
• Keywords: Augmented Contact Mode, Contact Task, ICRA 2002, Robotics, Successful Execution