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The International Journal of Robotics Research
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Impulsive Motion Planning for Positioning and Orienting a Polygonal Part

Inhwan Han

Department of Mechanical Design and Production Engineering, Hong-Ik University, Choongnam 339-701, Koreaihhan{at}hitel.net

Sang-Uk Park

Department of Mechanical Design and Production Engineering, Hong-Ik University, Choongnam 339-701, Korea

In this paper, the authors analyze the dynamic behavior of a rigid polygonal part struck on a horizontal surface under the action of friction and present how to propel the part to a desired configuration through the impulsive operation. In the dynamic analysis of the impulsive operation, the part motion is typically analyzed in two phases, impact motion and sliding motion. These are usually analyzed in reverse order of occurrence. The authors characterize the impact and sliding dynamics with friction for polygonal parts and develop an approach to compute the inverse dynamic solution for motion planning of the impulsive operation. Finally, the authors verify the effectiveness of the simulation results and the developed motion plans through comparison with experimental results using a high-speed video camera.

Key Words: striking • polygonal part • impact • friction • sliding • motion planning

The International Journal of Robotics Research, Vol. 20, No. 3, 249-262 (2001)
DOI: 10.1177/02783640122067381
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Q. Li and S. Payandeh
Planning Velocities of Free Sliding Objects as a Free Boundary Value Problem
The International Journal of Robotics Research, January 1, 2004; 23(1): 69 - 87.
[Abstract] [PDF]