The Motion of a Pushed, Sliding Workpiece

Michael A. Peshkin; Arthur C. Sanderson

doi:10.1109/56.9297

The Motion of a Pushed, Sliding Workpiece

Michael A. Peshkin^*, Arthur C. Sanderson

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

127 Scopus citations

Abstract

It occurs frequently in robotic applications that a robot manipulates a workpiece which is free to slide on a work surface. Because the pressure distribution supporting the workpiece on the work surface cannot in general be known, the motion of the workpiece cannot be calculated uniquely. Yet despite this indeterminacy, several researchers have shown that sliding motions can be employed to accurately align workpieces without visual or other feedback. Here we find the locus of centers of rotation of a workpiece for all possible pressure distributions. The results allow a quantitative understanding of open-loop robot motions which guarantee the alignment of a workpiece. Several sample problems are solved using the results, including the distance that a flat “fence” or robot finger must push a polygonal workpiece to assure that a facet of the workpiece comes into alignment with the fence.

Original language	English (US)
Pages (from-to)	569-598
Number of pages	30
Journal	IEEE Journal on Robotics and Automation
Volume	4
Issue number	6
DOIs	https://doi.org/10.1109/56.9297
State	Published - Dec 1988

ASJC Scopus subject areas

Control and Systems Engineering
Engineering(all)
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/56.9297

Cite this

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title = "The Motion of a Pushed, Sliding Workpiece",

abstract = "It occurs frequently in robotic applications that a robot manipulates a workpiece which is free to slide on a work surface. Because the pressure distribution supporting the workpiece on the work surface cannot in general be known, the motion of the workpiece cannot be calculated uniquely. Yet despite this indeterminacy, several researchers have shown that sliding motions can be employed to accurately align workpieces without visual or other feedback. Here we find the locus of centers of rotation of a workpiece for all possible pressure distributions. The results allow a quantitative understanding of open-loop robot motions which guarantee the alignment of a workpiece. Several sample problems are solved using the results, including the distance that a flat “fence” or robot finger must push a polygonal workpiece to assure that a facet of the workpiece comes into alignment with the fence.",

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The Motion of a Pushed, Sliding Workpiece

Abstract

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