Sliding manipulation of rigid bodies on a controlled 6-DoF plate
نویسندگان
چکیده
منابع مشابه
Sliding Manipulation of Rigid Bodies on a Controlled 6-DoF Plate
We model the full dynamics of a rigid part in three-point frictional sliding contact with a flat rigid 6-degree-offreedom plate. Given a periodic plate motion and the geometric, inertial, and frictional properties of the part, we define an asymptotic twist field mapping each part configuration to a unique part twist (linear and angular velocity). Asymptotic twist vectors in the field approximat...
متن کاملGaussian Process for 6-DoF Rigid Motions
Data-driven modeling approaches receive significant attention in robotics as they are capable of representing system behavior to which first-order principles cannot be employed. Modeling of human motions, based on observations is one of the many application areas. So far, however, the available probabilistic approaches cannot handle dynamics evolving in the space of rigid motions, as rotations ...
متن کاملFriction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate
We show that small-amplitude periodic motion of a rigid plate causes point parts on the plate to move as if they are in a position-dependent velocity field. Further, we prove that every periodic plate motion maps to a unique velocity field. By allowing a plate to oscillate with six-degrees-of-freedom, we can create a large family of programmable velocity fields. We examine in detail sinusoidal ...
متن کاملDesign and implementation of MARG sensors for 3-DOF orientation measurement of rigid bodies
This paper presents the latest design and implementation of the Magnetic, Angular Rate, and Gravity (MARC) sensor module. The MARG sensor module is designed for measuring 3-DOF orientations in real time without singularities. Each MARG sensor contains orthogonally mounted triads of micromachined rate sensors, accelerometers, and magnetometers for a total of nine sensor components. With an integ...
متن کاملDexterous Manipulation of an Object by Means of Multi-DOF Robotic Finger with Rigid Tips
This article aims to design a dynamic model and propose a new control framework for motion of dual multi-DOF robotic fingers with hemi-spherical rigid tips holding an object with non-parallel flat surfaces in a horizontal workspace. Firstly, by using the Lagrange method and Hamilton’s principle, a mathematical model of dynamics of the general object-fingers setup has been described as a system ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2012
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364912442430