Planning the manipulation of an object free to slide on a surface is an important problem in many robotic applications. Physical analysis of the object's motion is made difficult by absence of information about the distribution of support of the object on the surface and the resulting frictional forces. The authors describe new approach to the analysis of sliding motion, presenting results for the locus of centers of rotation for all possible distributions of support. In one application to robotic manipulation, bounds on the distance that an object must be pushed to come into alignment with a robot finger or a fence are determined.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||7|
|State||Published - Jan 1 1986|
ASJC Scopus subject areas