Sliding manipulation of rigid bodies on a controlled 6-DoF plate

Thomas H. Vose*, Paul Umbanhowar, Kevin M. Lynch

*Corresponding author for this work

Research output: Contribution to journalArticle

25 Scopus citations

Abstract

We model the full dynamics of a rigid part in three-point frictional sliding contact with a flat rigid six-degree-of-freedom (6-DoF) plate. When the plate moves periodically, we show the part's dynamics are well approximated by a first-order system represented by an asymptotic velocity field that maps part configurations in SE(2) to unique velocities (linear and angular) in 2. The form of the asymptotic velocity field depends on the plate's motion, the location and friction coefficient of each contact point, and the inertial properties of the part. Asymptotic velocity vectors in the field approximate the part's cycle-averaged velocity at each configuration and are independent of time or the system's initial state. For the special case of a rigid part with infinitesimal thickness, we prove that asymptotic velocities are always unique and well defined. With the ability to program arbitrary periodic plate motions, part manipulation reduces to finding plate motions that generate asymptotic velocity fields to accomplish desired tasks. Several fields useful for manipulation tasks (e.g. sensorless part alignment) are verified in simulation and experiment.

Original languageEnglish (US)
Pages (from-to)819-838
Number of pages20
JournalInternational Journal of Robotics Research
Volume31
Issue number7
DOIs
StatePublished - Jun 1 2012

Keywords

  • flexible automation
  • friction modeling
  • parts feeding
  • programmable vector fields
  • rigid body sliding
  • sensorless manipulation
  • vibratory manipulation

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics

Fingerprint Dive into the research topics of 'Sliding manipulation of rigid bodies on a controlled 6-DoF plate'. Together they form a unique fingerprint.

  • Cite this