Toward the set of frictional velocity fields generable by 6-degree-of-freedom oscillatory motion of a rigid plate

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

14 Scopus citations

Abstract

A position-dependent asymptotic velocity field describes the motion of point parts sliding with friction on the surface of a rigid oscillating plate. These fields can be used to perform manipulation tasks such as sensorless positioning of one or several parts simultaneously. This paper examines the set of fields F generated by periodic plate motions M that combine a single in-plane component and a single out-of-plane component that have square wave accelerations with 50% duty cycles, identical periods, and an arbitrary phase between them. By deconstructing the full map Π : ℳ → ℱ into three simpler maps, we expose the structure of ℱ and its relationship to ℳ. To illustrate, we focus on particular plate motions in ℳ that generate fields well approximated by polynomial functions of position with degree n ≤ 2. Numerical simulations suggest that fields generated from plate motions with more than a single inplane and a single out-of-plane component (all with the same period and square wave accelerations) are well approximated by linear combinations of fields in ℱ.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages540-547
Number of pages8
DOIs
StatePublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Vose, T. H., Umbanhowar, P., & Lynch, K. M. (2010). Toward the set of frictional velocity fields generable by 6-degree-of-freedom oscillatory motion of a rigid plate. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 540-547). [5509340] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509340