Rigid-Body Dynamics with Friction and Impact
SIAM Review
Mechanics of robotic manipulation
Mechanics of robotic manipulation
Computational Methods for Design and Control of MEMS Micromanipulator Arrays
IEEE Computational Science & Engineering
Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate
International Journal of Robotics Research
Dynamic manipulation inspired by the handling of a pizza peel
IEEE Transactions on Robotics
Generation of quadratic potential force fields from flow fields for distributed manipulation
IEEE Transactions on Robotics
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We model the full dynamics of a rigid part in three-point frictional sliding contact with a flat rigid six-degree-of-freedom (6-DoF) plate. When the plate moves periodically, we show the part's dynamics are well approximated by a first-order system represented by an asymptotic velocity field that maps part configurations in SE(2) to unique velocities (linear and angular) in 芒聞聺2. The form of the asymptotic velocity field depends on the plate's motion, the location and friction coefficient of each contact point, and the inertial properties of the part. Asymptotic velocity vectors in the field approximate the part's cycle-averaged velocity at each configuration and are independent of time or the system's initial state. For the special case of a rigid part with infinitesimal thickness, we prove that asymptotic velocities are always unique and well defined. With the ability to program arbitrary periodic plate motions, part manipulation reduces to finding plate motions that generate asymptotic velocity fields to accomplish desired tasks. Several fields useful for manipulation tasks (e.g. sensorless part alignment) are verified in simulation and experiment.