When Quasistatic Jamming is Impossible

Jeffrey C. Trinkle
Texas A&M University
Soon-Lin Yeap
Texas A&M University
Li Han
Texas A&M University

Abstract

We propose a new condition to test for the impossibility of jamming in three-dimensional, quasistatic multi-rigid-body systems. Our condition can be written as a feasibility problem of a system of linear inequalities and therefore can be checked using linear programming techniques. To demonstrate the use of our jamming test, we apply it to a simple dexterous manipulation task and to the well-known peg-in-hole insertion problem. ( Full Paper in pdf)



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