DocumentCode
306347
Title
Releasing manipulation
Author
Zhu, Chi ; Aiyama, Yasumichi ; Chawanya, Takeshi ; Arai, Tatnio
Author_Institution
Dept. of Precision Machinery Eng., Tokyo Univ., Japan
Volume
2
fYear
1996
fDate
4-8 Nov 1996
Firstpage
911
Abstract
In this paper, first we propose a new kind of manipulation-releasing manipulation, that is, by some means, the manipulator gives the object initial translational and rotational velocities to make the object slide on a surface by its inertia under the action of friction. Second, we give the basic equations and analyze the motion of the object. Third, based on numerical calculation, we summarize the motion characteristics, especially for a rectangle. Finally, we perform experiments to verify the validity of this manipulation
Keywords
friction; manipulators; friction; motion characteristics; releasing manipulation; rotational velocity; slide; translational velocity; Acceleration; Angular velocity; Friction; Machinery; Manipulators; Motion analysis; Nonlinear equations; Numerical simulation; Orbital robotics; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location
Osaka
Print_ISBN
0-7803-3213-X
Type
conf
DOI
10.1109/IROS.1996.571073
Filename
571073
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