Motion of a pushed, sliding object. Part 1. Sliding friction.

摘要

In many robotic applications, manipulation planning for an object free to slide on a surface is an important problem. Physical analysis of the object's motion is made difficult by the absence of information about the distribution of support of the object, and of the resulting frictional forces. This paper describes a new approach to the analysis of sliding motion. The instantaneous motion of the object can be described as a pure rotation about a center of rotation (COR) somewhere in the plane. In this paper we find the locus of CORs for all possible distributions of support forces. We assume zero friction at the pusher-object contact, and we assume that the support force distribution is confined to a disk. In one application to robotic manipulation, bounds on the distance an object must be pushed to come into alignment with robot finger or a fence are determined. (Author)