Abstract
In this paper, we study excessive internal forces applied to manipulated objects in robotic contact tasks. Such internal forces may cause serious damage to the objects and/or robots; thus, prior assessment of the possibility of excessive internal forces is very important. We propose a method to judge the possibility of excessive internal forces on manipulated objects. The judgment is based on rigid-body mechanics with Coulomb friction and given by solving a series of linear programming problems. We show some numerical examples of the judgment by our proposed method.
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