MANIPULATION OF A SLIDING OBJECT.

M. A. Peshkin; A. C. Sanderson

MANIPULATION OF A SLIDING OBJECT.

M. A. Peshkin^*, A. C. Sanderson

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Scopus citations

Abstract

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
Publisher	IEEE
Pages	233-239
Number of pages	7
ISBN (Print)	0818606959
State	Published - Jan 1 1986

ASJC Scopus subject areas

General Engineering

Cite this

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title = "MANIPULATION OF A SLIDING OBJECT.",

abstract = "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.",

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year = "1986",

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AU - Sanderson, A. C.

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N2 - 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.

AB - 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.

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BT - Unknown Host Publication Title

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ER -

MANIPULATION OF A SLIDING OBJECT.

Abstract

ASJC Scopus subject areas

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