Mechanics, Planning, and Control for Tapping
نویسندگان
چکیده
We consider impulsive manipulation to be any form of manipulation consisting of two phases: a strike to the object imparting some initial velocities and free motion of that object subject to forces and constraints in the environment. In this work, we have focused on manipulation of planar sliders by tapping. After being struck, the object slides on the support surface, slowing down and coming to rest due to frictional forces.
منابع مشابه
Mechanics, Planning, and Control for Tapping Mechanics, Planning, and Control for Tapping
We present analysis and experimental demonstration of manipulation by tapping. Our problem domain is positioning planar parts on a support surface by a sequence of taps; each tap imparts some initial velocities to the object, which then slides until it comes to rest due to friction. We formulate the mechanics of tapping for circular axisymmetric objects, show how to plan a single tap and a sequ...
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ورودعنوان ژورنال:
- I. J. Robotics Res.
دوره 19 شماره
صفحات -
تاریخ انتشار 2000