Estimating the friction parameters of pushed objects
نویسنده
چکیده
In order to plan manipulation of an object by pushing, a robot must have a model of the geometry and the friction properties of the object. This paper presents an approach to estimating the relevant friction parameters by performing experimental pushes and observing the resultant motion. Recognition of objects based on their friction parameters is also explored.
منابع مشابه
Sloughing of root cap cells decreases the frictional resistance to maize (Zea mays L.) root growth
Root caps provide a protective layer in front of the meristem that protects the meristem from abrasion by soil particles. The continuous production and sloughing of the root cap cells may be an adaptation to decrease the friction at the soil-root interface by acting as a low-friction lining to the channel formed by the root. Experiments were performed which provide the first direct evidence tha...
متن کاملThe motion of a pushed, sliding object : part 2 : contact friction
The physics of motion of a sliding object can be used to plan sensorless robot manipulation strategies based on sliding. Prediction of a sliding object's motion is difficult because the object's distribution of support on the surface, and the resulting frictional forces, are in general unknown. We describe a new approach to the analysis of sliding motion, which finds the set of object motions f...
متن کاملSize Evolution of Early-Type Galaxies and Massive Compact Objects as the Dark Matter
The dramatic size evolution of early-type galaxies from z ∼ 2 to 0 poses a new challenge in the theory of galaxy formation, which may not be explained by the standard picture. It is shown here that the size evolution can be explained if the non-baryonic cold dark matter is composed of compact objects having a mass scale of ∼ 10M⊙. This form of dark matter is consistent with or only weakly const...
متن کاملThe Analytic Technique and Experimental Research Methods of Post-buckling about Slender Rod Strings in Wellbore
The buckling behavior of rod strings in wellbore is one of the key issues in petroleum engineering. The slender rod strings in vertical wellbore were selected as research objects. Based on the energy method, the critical load formulas of sinusoidal and helical buckling were derived for the string with the bottom of the wellbore pressure. According to the sinusoidal and helical buckling’s geomet...
متن کاملEffect of Welding Parameters in the Microstructure and Mechanical Properties of Friction-Welded Joints of 100Cr6 Steel
In this study, high-carbon, chromium alloy steel (100Cr6) having the initial spheroidized microstructure was welded using the rotary friction welding method. The effects of process parameters such as friction time and friction force were experimentally investigated. The friction welded joints were produced of two 100Cr6 steel rods. In order to examine the microstructure and mechanical properti...
متن کامل