Contact models form the foundation of robotic grasping systems. They mathematically describe how robot grippers physically interact with objects during manipulation tasks. When a robotic gripper approaches an object, the transition from non-contact to contact state creates specific force interactions that must be carefully modeled. Understanding these contact mechanics is essential for developing reliable robotic manipulation systems that can handle diverse objects safely and effectively.
Contact forces are the key to understanding robotic grasping mechanics. At each contact point, two primary types of forces emerge. Normal forces act perpendicular to the contact surface, providing the gripping pressure needed to hold objects. Friction forces act parallel to the contact surface, preventing slippage during manipulation. The relationship between these forces determines whether a grasp will be stable or if the object will slip. The friction force is limited by the coefficient of friction multiplied by the normal force, establishing the fundamental constraint for stable grasping.