DocumentCode
299849
Title
Impulsive manipulation
Author
Huang, Wesley H. ; Krotkov, Eric P. ; Mason, Matthew T.
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
120
Abstract
Examines a little-studied method of manipulation-manipulation by striking an object and letting it slide. There are two parts to this problem: The inverse sliding problem, determining the velocities required to send an object to a desired configuration, and the impact problem, determining how to strike the object in order to achieve those velocities. The authors present a solution to these two problems for the class of rotationally symmetric objects and conclude with some observations about this method of manipulation
Keywords
friction; manipulators; position control; impact problem; impulsive manipulation; inverse sliding problem; rotationally symmetric objects; Angular velocity; Coils; Friction; Geometry; Robotics and automation; Robots; State-space methods; Torque; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525273
Filename
525273
Link To Document