Mechanics, Planning, and Control for Tapping
نویسندگان
چکیده
منابع مشابه
Mechanics, Planning, and Control for Tapping Mechanics, Planning, and Control for Tapping
We present analysis and experimental demonstration of manipulation by tapping. Our problem domain is positioning planar parts on a support surface by a sequence of taps; each tap imparts some initial velocities to the object, which then slides until it comes to rest due to friction. We formulate the mechanics of tapping for circular axisymmetric objects, show how to plan a single tap and a sequ...
متن کاملMechanics, Planning, and Control for Tapping
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 t...
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15 صفحه اولControl Strategies for Fine Positioning via Tapping
There are many industrial tasks that require fine positioning, for example: parts feeding, subassembly alignment, and certain inspection tasks. In this paper, we describe an approach to positioning parts or subassemblies on a support surface by tapping them. We have built a “positioning cell” where an object placed in this cell is positioned and oriented by a number of “tapping actuators” place...
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In order to increase the imaging speed of a scanning probe microscope in tapping mode, we propose to use a dynamic controller on 'parachuting' regions. Furthermore, we propose to use variable scan speed on 'upward step' regions, with the speed determined by the error signal of the closed-loop control. We offer line traces obtained on a calibration grating with 25-nm step height, using both stan...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2000
ISSN: 0278-3649,1741-3176
DOI: 10.1177/02783640022067841