Characteristics Analysis of Frictional Sliding Motion in Releasing Manipulation
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- Zhu Chi
- Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University
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- Aiyama Yasumichi
- Institute of Engineering Mechanics and Systems, Tsukuba University
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- Arai Tamio
- Department of Precision Engineering, School of Engineering, The University of Tokyo
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- Kawamura Atsuo
- Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University
Bibliographic Information
- Other Title
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- 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
- 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
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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 24 (3), 416-427, 2006
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679702380800
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- NII Article ID
- 10018133089
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 7932229
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed