書誌事項
- タイトル別名
-
- Characteristics Analysis of Frictional Sliding Motion in Releasing Manipulation
- リリースガタ マニピュレーション ニ オケル マサツ オ ユウスル スベリ ウンドウ
この論文をさがす
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
-
日本ロボット学会誌 24 (3), 416-427, 2006
一般社団法人 日本ロボット学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679702380800
-
- NII論文ID
- 10018133089
-
- NII書誌ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL書誌ID
- 7932229
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
-
- 抄録ライセンスフラグ
- 使用不可