| 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 discuss 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 phases 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. |
