NDLI: Quasistatic sliding manipulation-on the transient response of sliding manipulation

Content Provider	IEEE Xplore Digital Library
Author	Kao, I. Cutkosky, M.R.
Copyright Year	1989
Description	Author affiliation: Dept. of Mech. Eng., Stanford Univ., CA, USA (Kao, I.; Cutkosky, M.R.)
Abstract	Analytic models and numerical simulations of transient sliding are presented. The sliding motion of compliant grasps is governed by a first-order time-varying differential equation. The solution of such differential equations is characterized by a study-state and a transient solution. The transient solution is more important because it happens immediately after the sliding motion initiates so that it is necessary to control it more carefully, and the fingertips are usually in transient stages with little opportunity to establish steady-state sliding. Under most circumstances, the approximate solutions of the time-varying system were found to be close to those of direct numerical computation. Several experiments on the sliding motions of fingers were conducted using a model frame and disk that represent the fingertip. The experiments gave good qualitative and quantitative agreement with the theoretical and numerical solutions.
Starting Page	438
Ending Page	443
File Size	428763
Page Count	6
File Format	PDF
ISBN	0818619872
ISSN	21589860
DOI	10.1109/ISIC.1989.238661
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-09-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Transient response Fingers Friction Robots Motion control Steady-state Numerical simulation Transient analysis Writing Humans
Content Type	Text
Resource Type	Article

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