The motion of a pushed, sliding object
نویسندگان
چکیده
In many robotic applications, manipulation planning for an object free to slide on a surface is an import; oblem. Physical analysis of the object's motion is made difficult by the absence of information about 1 stribution of support of die object, and of the resulting frictional forces. This paper describes a n iproach to the analysis of sliding motion. The instantaneous motion of the object can be described as a pure rotation about a center of rotation (CO mewhere in the plane. In this paper we find the locus of CORs for all possible distributions of supp rces. We assume zero friction at the pusher-object contact, and we assume that the support foi stribution is confined to a disk. In one application to robotic manipulation, bounds on the distance an object must be pushed to come ii gnment with a robot finger or a fence are determined.-
منابع مشابه
The motion of a pushed, sliding object : part 2 : contact friction
The physics of motion of a sliding object can be used to plan sensorless robot manipulation strategies based on sliding. Prediction of a sliding object's motion is difficult because the object's distribution of support on the surface, and the resulting frictional forces, are in general unknown. We describe a new approach to the analysis of sliding motion, which finds the set of object motions f...
متن کاملPhase transition of the dry friction between crystalline surfaces induced by normal load
A major source of energy dissipation and surface wear is the kinetic friction at the interfaces of sliding bodies. Traditionally, on a macroscopic scale, this undesirable effect is reduced with lubricating the surfaces by introducing oil into their interface. An interesting phenomenon, called superlubricity, has been reported on a nanometer scale where dry (without lubricant oil) fruition and w...
متن کاملFuzzy Sliding Mode for Spacecraft Formation Control in Eccentric Orbits
The problem of relative motion control for spacecraft formation flying in eccentric orbits is considered in this paper. Due to the presence of nonlinear dynamics and external disturbances, a robust fuzzy sliding mode controller is developed. The slopes of sliding surfaces of the conventional sliding mode controller are tuned according to error states using a fuzzy logic and reach the pre-define...
متن کاملExact Bounds on the Contact Driven Motion of a Sliding Object, With Applications to Robotic Pulling
This paper explores the quasi-static motion of a planar slider being pushed or pulled through a single contact point assumed not to slip. The main contribution is to derive a method for computing exact bounds on the object’s motion for classes of pressure distributions where the center of pressure is known but the distribution of support forces is unknown. The second contribution is to show tha...
متن کاملEarthquake Analysis of 3-D Structures on Sliding Foundation Using Yield Equation of the Contact Surface
A solution technique for the dynamic analysis of asymmetric base-isolated buildings, subject to earthquake ground motion, is presented. To develop the formulation, a yield surface as a function of both shear force and torsion moment of the sliding surface with rigid perfectly plastic behavior is constituted. To achieve the objective, the yield stress is defined by the friction coefficient throu...
متن کامل