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Planning the motion of a sliding and rolling sphere
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015This paper investigates the free motion of a sphere with initial velocity and angular velocity on a plane under sliding and rolling friction. The sphere will first slide along a parabolic trajectory (with a constant direction of its contact velocity), and then roll along a straight trajectory.
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The motion of a pushed, sliding object
2018Robotics ...
Peshkin, M. A., Sanderson, A. C.
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Practical Force-Motion Models for Sliding Manipulation
The International Journal of Robotics Research, 1996The goal of this article is to develop practical descriptions of the relationship between forces and motions in sliding manipu lation. We begin by reviewing the limit surface, a concept from the mechanics of sliding bodies that uses kinematic analysis to find the force and moment required to produce any given sliding motion.
Robert D. Howe, Mark R. Cutkosky
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Regimes of Terminal Motion of Sliding Spinning Disks
Physical Review Letters, 2005Analysis of the frictional motion of a uniform circular disk of radius sliding and spinning on a horizontal table reported by Farkas et al. [Phys. Rev. Lett. 90, 248302 2003] shows that the disk always stops sliding and spinning at the same instant with a terminal speed ratio epsilon = v/Romega = 0.653.
P D, Weidman, C P, Malhotra
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Static sliding-motion phenomena in dynamical systems
IEEE Transactions on Automatic Control, 2003We present a new type of sliding motion which results from a novel choice of the sliding surfaces. We define these sliding surfaces such that they become explicitly dependent on the outputs of the discontinuous block. We prove under this design, a special sliding mode characterises the system dynamics, which we name static sliding mode, because it ...
Igor B. Junger, Jochen J. Steil
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Auxiliary Sliding Motions of Vibro-Impact Systems
Automation and Remote Control, 2020In motion control systems, modes with more and more frequent switching are known. For systems with impacts (a certain class of impulse systems), an analog of these modes is motions with an infinite number of impact interactions occurring in a finite time. For such motions, a description in terms of smooth differential equations is proposed.
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Circular motion with sliding friction
American Journal of Physics, 1981This note considers the motion of a block starting from rest at any position on a vertical semicircular track. (AIP)
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Perturbation estimation in sliding mode motion control
1999 European Control Conference (ECC), 1999A perturbation estimation sliding mode based motion control algorithm was introduced for a class of nonlinear mechatronics systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation.
Boris Curk, Karel Jezernik
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Image Registration with Sliding Motion Constraints for 4D CT Motion Correction
2015A common assumption in medical image registration is that the estimation of a globally continuous deformation field is plausible in reality. However, a sliding behavior of adjacent organ boundaries (e.g. lung and ribcage) cannot be described in a plausible way by a continuous deformation field.
Alexander Derksen +3 more
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Sliding motion in image registration
2014The approach for image registration presented in Chapter 3 aims at finding a transformation that is optimal with respect to a similarity measure and a smoothness condition that ensures a physiologically plausible motion. One of the major challenges for such registration methods in the context of this work is the occurrence of sliding motion – a ...
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