Dynamic model for high-speed pushing as a manipulator operation

Su S. , Uzmay I.

IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16 - 20 May 1998, pp.850-855 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/robot.1998.677091
  • City: Leuven
  • Country: Belgium
  • Page Numbers: pp.850-855


In a planar pushing operation, particularly at higher pushing velocities, the object's inertia can not be ignored. This paper so determines dynamics aspect of the pushing mechanics for the case of four-points of support. If the object's inertia is neglected in the case of highspeed pushing, the object translates along the pushing line. However, when the object's inertia is considered, there is a tendency for the object to rotate.