作为机械手操作的高速推动动力学模型

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.677091

S. Su, I. Uzmay

{"title":"作为机械手操作的高速推动动力学模型","authors":"S. Su, I. Uzmay","doi":"10.1109/ROBOT.1998.677091","DOIUrl":null,"url":null,"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.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic model for high-speed pushing as a manipulator operation\",\"authors\":\"S. Su, I. Uzmay\",\"doi\":\"10.1109/ROBOT.1998.677091\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":272503,\"journal\":{\"name\":\"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)\",\"volume\":\"83 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1998-05-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1998.677091\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1998.677091","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

在平面推动中，特别是在高推动速度下，物体的惯性是不可忽视的。因此，本文确定了四点支承情况下的推力力学的动力学方面。在高速推动的情况下，如果忽略物体的惯性，则物体沿着推动线平移。然而，当考虑到物体的惯性时，物体有旋转的趋势。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Dynamic model for high-speed pushing as a manipulator operation

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

自引率

0.00%

发文量