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Passive dynamic object manipulation: preliminary definition and examples

Beigzadeh, B ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.3724/SP.J.1004.2010.01711
  3. Publisher: 2010
  4. Abstract:
  5. In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken into account. In this direction, some rules are derived under which we ensure that the manipulation process does not fail. Simulations support this idea. Copyright
  6. Keywords:
  7. Dynamic manipulation ; Dynamic equations of motion ; Dynamic object manipulation ; Future directions ; Interaction forces ; Passive manipulation ; Passive systems ; Robotic system ; Robotic systems ; Equations of motion ; Robots ; Robotics
  8. Source: Zidonghua Xuebao/Acta Automatica Sinica ; Volume 36, Issue 12 , 2010 , Pages 1711-1719 ; 02544156 (ISSN)
  9. URL: http://www.sciencedirect.com/science/article/pii/S1874102909600677