Title :
The mechanics of fine manipulation by pushing
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The author presents a method for determining the possible instantaneous motions of a sliding object during multiple contact pushing. The approach consists of two components: a kinematic analysis considering kinematic motion constraints, and a force analysis considering force constraints on the motion. A representation of the support friction of a sliding object is presented, and the results of the force analysis are independent of the exact support distribution of the object. The analysis results in a manipulation primitive: stable rotational pushing. This primitive may be used for precise placement operations by pushing
Keywords :
control system analysis; force control; kinematics; manipulators; mechanical engineering; fine manipulation mechanics; force analysis; friction; kinematic analysis; kinematic motion constraints; manipulators; multiple contact pushing; robotics; stable rotational pushing; Friction; Independent component analysis; Kinematics; Manipulators; Mobile robots; Motion analysis; Trajectory;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219921
