A complementarity problem formulation of the frictional grasping problem

摘要

The problem of secure grasping in the presence of unilateral contact and friction effects is formulated as a nonlinear comple- mentarity 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.