The mechanics of fine manipulation by pushing (1992)
| Venue: | in IEEE International Conference on Robotics and Automation |
| Citations: | 40 - 9 self |
BibTeX
@INPROCEEDINGS{Lynch92themechanics,
author = {Kevin M. Lynch},
title = {The mechanics of fine manipulation by pushing},
booktitle = {in IEEE International Conference on Robotics and Automation},
year = {1992},
pages = {2269--2276}
}
Years of Citing Articles
Bookmark
 |
 |
 |
 |
 |
 |
OpenURL
Abstract
This paper 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 new 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 new manipulation primitive: stable rotational pushing. This primitive may be used for precise placement operations by pushing. 1.
