A complementarity problem formulation of the frictional grasping problem

DOI10.1016/S0045-7825(99)00454-5zbMATH Open0981.70004OpenAlexW2051102296MaRDI QIDQ1595370FDOQ1595370

Georgios E. Stavroulakis, A. M. Al-Fahed Nuseirat

Publication date: 21 March 2002

Published in: Computer Methods in Applied Mechanics and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0045-7825(99)00454-5

zbMATH Keywords

nonlinear complementarity problemunilateral contactgrasping problemisotropic friction conditionsorthotropic friction conditions

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Problems involving a system of particles with friction (70F40) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

Cites Work

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• Nonsmooth mechanics. Models, dynamics and control.
• Complementarity Problem Formulation of Three-Dimensional Frictional Contact
• Hard and Soft Fingered Robot Grippers. The Linear Complementarity Approach
• On the rigid body displacements and rotations in unilateral contact problems and applications

Cited In (5)

• The maximum dissipation principle in rigid-body dynamics with inelastic impacts
• A linear complementarity approach to the articulated multifingered friction gripper
• A complementarity approach to a quasistatic multi-rigid-body contact problem
• Compliant grasping with passive forces
• Discontinuous deformation analysis coupling with discontinuous Galerkin finite element methods for contact simulations

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