The motion of a pushed, sliding workpiece
Journal Article, IEEE Journal on Robotics and Automation, Vol. 4, No. 6, pp. 569 - 598, December, 1988
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. The authors 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
BibTeX
@article{Peshkin-1988-15441,author = {M. A. Peshkin and Arthur C. Sanderson},
title = {The motion of a pushed, sliding workpiece},
journal = {IEEE Journal on Robotics and Automation},
year = {1988},
month = {December},
volume = {4},
number = {6},
pages = {569 - 598},
}
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