THE MOTION OF A PUSHED, SLIDING WORKPIECE
THE MOTION OF A PUSHED, SLIDING WORKPIECE
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DOI：
10.1109/56.9297
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发表时间：
1988-12-01
期刊：
影响因子：
--
通讯作者：
SANDERSON, AC
中科院分区：
文献类型：
--
作者：
PESHKIN, MA;SANDERSON, AC
在机器人应用中，经常发生机器人操纵在工作表面上自由滑动的工件的情况。由于支撑工件在工作表面上的压力分布通常无法得知，因此无法唯一地计算工件的运动。作者找到了所有可能的压力分布下工件的旋转中心轨迹。结果可以定量地了解开环机器人运动，从而保证工件的对准。使用结果解决了几个示例问题，包括平坦栅栏或机器人手指必须推动多边形工件以确保工件的一个面与栅栏对齐的距离。<>
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.<>