リリース型マニピュレーションにおける摩擦を有する滑り運動 Characteristics Analysis of Frictional Sliding Motion in Releasing Manipulation

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著者

    • 朱 赤 ZHU Chi
    • 横浜国立大学大学院工学研究院 Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University
    • 新井 民夫 [他] ARAI Tamio
    • 東京大学大学院工学系研究科精密機械工学専攻 Department of Precision Engineering, School of Engineering, The University of Tokyo
    • 河村 篤男 KAWAMURA Atsuo
    • 横浜国立大学大学院工学研究院 Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University

抄録

In this paper, characteristics of freely frictional sliding motion is investigated. With physical concept and results of numerical computation, we clarify the fact that the trajectories of non-rotationally symmetric objects are nearly straight lines. Further, we expend the results that the translational and rotational motions come to stop simultaneously from the rotationally symmetric objects to the non-rotationally symmetric objects; meanwhile we point out that the radius of instantaneous rotation of the object at final stage is dependent on the final configuration and geometric properties of the object, but independent of its initial velocities. Further, we develop one approximate approach to simplify the analysis of the complex frictional motion for one extreme case, initially translation-dominant motion. Consequently, a series of important properties and motion monotonicity of the frictional sliding motion are obtained. With the above results, an inverse problem that is to determine the necessary initial translational and rotational velocities of the object, is got very easy and straightforward.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 24(3), 416-427, 2006-04-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018133089
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    7932229
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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