NDLI: Standing-up characteristic of contact force during self-posture changing motions

Content Provider	IEEE Xplore Digital Library
Author	Kaneko, M. Hayashi, T.
Copyright Year	1993
Description	Author affiliation: Dept. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Iizuka Fukuoka, Japan (Kaneko, M.; Hayashi, T.)
Abstract	The condition leading to self-posture changing motion (SPCM) of a link system is discussed. It is concluded that there exists a singular behavior in an SPCM, namely, contact force sharply increases when the link posture comes to a particular point depending on frictional conditions at the point of contact. That contact force keeps constant and small irrespective of the frictional coefficient, while the link posture is not so far away from the straight-line. Thus, an SPCM is highly robust for frictional coefficient when it is executed with the straight-lined link posture. It is shown that by introducing a non-dimensional angle, there exists a similarity law for the behaviors of contact forces for various frictional coefficients, and that a sufficient condition obtained in the authors' earlier works has no space to be relaxed.
Starting Page	202
Ending Page	208
File Size	670131
Page Count	7
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292147
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Object detection Sensor phenomena and characterization Shape Robotics and automation Computer science Maintenance engineering Systems engineering and theory Displacement control Control systems
Content Type	Text
Resource Type	Article

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