Dynamic model for high-speed pushing as a manipulator operation

Abstract

In a planar pushing operation, particularly at higher pushing velocities, the object's inertia can not be ignored. This paper so determines dynamics aspect of the pushing mechanics for the case of four-points of support. If the object's inertia is neglected in the case of high-speed pushing, the object translates along the pushing line. However, when the object's inertia is considered, there is a tendency for the object to rotate.