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A complementarity problem formulation of the frictional grasping problem

Stavroulakis Georgios, A.M Al-Fahed Nuseirat

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URI: http://purl.tuc.gr/dl/dias/1A6E1260-9175-4E67-8FF4-DD827B0F976D
Year 2000
Type of Item Peer-Reviewed Journal Publication
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Bibliographic Citation A.M Al-Fahed Nuseirat, G.E Stavroulakis , " A complementarity problem formulation of the frictional grasping problem ,"Comp.Methods in Applied Mech. and Engin., vol. 190, no. 8–10, pp. 941–952, Nov.2000. doi:10.1016/S0045-7825(99)00454-5 https://doi.org/10.1016/S0045-7825(99)00454-5
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Summary

The problem of secure grasping in the presence of unilateral contact and friction effects is formulated as a nonlinear complementarity problem (NCP). This approach, in comparison with other methods which involve piecewise linear approximations, is very natural and applicable. The proposed formulation covers isotropic and orthotropic friction conditions. Numerical examples which illustrate the developed method are included.

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