MINIMIZATION OF ENERGY IN QUASISTATIC MANIPULATION.

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Quasistatic mechanical systems, in which mass or acceleration are sufficiently small that the inertial term ma in F equals ma is negligible compared to dissipative forces, are discussed. It is pointed out that many instances of robotic manipulation can be well approximated as quasistatic systems, with the dissipative force being dry friction. Energetic formulations of Newton's laws have often been found useful in the solution of mechanics problems involving multiple constraints. A minimum power principle is outlined which states that a system chooses at every instant the lowest-energy, or 'easiest', motion in conformity with the constraints. Surprisingly, the principle is in general false. But it is proved that the principle is correct in the useful special case that Coulomb friction is the only dissipative or velocity-dependent force acting in the system.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages421-426
Number of pages6
ISBN (Print)0818608528
StatePublished - Jan 1 1988

ASJC Scopus subject areas

  • Engineering(all)

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