The mechanics of fine manipulation by pushing

The author presents a method for determining the possible instantaneous motions of a sliding object during multiple contact pushing. The approach consists of two components: a kinematic analysis considering kinematic motion constraints, and a force analysis considering force constraints on the motion. A representation of the support friction of a sliding object is presented, and the results of the force analysis are independent of the exact support distribution of the object. The analysis results in a manipulation primitive: stable rotational pushing. This primitive may be used for precise placement operations by pushing.<<ETX>>

[1]  Matthew T. Mason.  Two graphical methods for planar contact problems , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[2]  S. Gruber,et al.  Robot hands and the mechanics of manipulation , 1987, Proceedings of the IEEE.

[3]  Arthur C. Sanderson,et al.  Planning robotic manipulation strategies for workpieces that slide , 1988, IEEE J. Robotics Autom..

[4]  Randy C. Brost,et al.  Analysis and planning of planar manipulation tasks , 1992 .

[5]  Randy C. Brost,et al.  Automatic Grasp Planning in the Presence of Uncertainty , 1988, Int. J. Robotics Res..

[6]  Zdravko Balorda,et al.  Reducing uncertainty of objects by robot pushing , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  Matthew T. Mason,et al.  Mechanics and Planning of Manipulator Pushing Operations , 1986 .

[8]  Arthur C. Sanderson,et al.  The motion of a pushed, sliding workpiece , 1988, IEEE J. Robotics Autom..

[9]  Matthew T. Mason.  Compliant Sliding of a Block Along a Wall , 1989, ISER.

[10]  Franz Reuleaux,et al.  The Kinematics of Machinery , 2016, Nature.

[11]  Ken Goldberg,et al.  Stochastic plans for robotic manipulation , 1991 .

[12]  David L. Brock,et al.  Enhancing the dexterity of a robot hand using controlled slip , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[13]  Michael A. Erdmann,et al.  On Motion Planning with Uncertainty , 1984 .