TABLE OF CONTENTS Wesley H. Huang, Carnegie Mellon University, Pittsburgh, PA, USA
Matthew T. Mason, Carnegie Mellon University, Pittsburgh, PA, USA
We have been studying manipulation using impulsive forces; in particular, we have focused on the manipulation of planar sliders by tapping. These objects then slide on a support surface, slowing down and coming to rest due to frictional forces. In this paper, we present analytical and experimental results in the mechanics, planning, and control of this system.
We consider impulsive manipulation to be any form of manipulation consisting of two phases: a strike to the object imparting some initial velocities and free motion of that object subject to forces and constraints in the environment. In this work, we have focused on manipulation of planar sliders by tapping. After being struck, the object slides on the support surface, slowing down and coming to rest due to frictional forces.
Using impulsive forces for manipulation has several unique characteristics as compared to other modes of manipulation. Tapping is well suited for micropositioning the impact instantaneously breaks static friction, but the amount of impulse delivered determines how far the object moves. Tapping results in quick dynamic motion, requires a relatively simple actuator, and can manipulate a wide variety of objects due to its nonprehensile (nongrasping) nature.
There are many ways tapping could be instantiated. It could be used for fast and relatively low precision parts transfer between workcells. Our analysis might be applied to the design and configuration of certain types of...
