Motion characteristics in releasing manipulation

Author

Zhu, Chi ; Aiyama, Yasumichi ; Arai, Tamio ; Kawamura, Atsuo

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1969

Abstract

This paper mainly discusses the characteristics of free sliding motion in releasing manipulation. Releasing manipulation is such a manipulation, in which an object is given initial velocities by striking and slides on a surface to stop at the pre-assigned destination under the action of friction. After the properties of releasing manipulation are given out based on our previous work, the trajectory, the relationship of the sliding motion and the object shape, and the motion monotonicity of any one object with arbitrary shape are intensively discussed. Several important results are originally obtained. Finally, a simple and effectual approach of determining the necessary initial velocity of the object is presented with the above obtained results

Keywords

industrial manipulators; motion control; position control; sliding friction; velocity control; free sliding motion; motion control; motion monotonicity; releasing manipulation; trajectory control; velocity control; Friction; Grippers; Robots; Shape; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895259

Filename

895259