{"title":"On the spatial motion of a rigid body with point contact","authors":"C. Cai, B. Roth","doi":"10.1109/ROBOT.1987.1087971","DOIUrl":null,"url":null,"abstract":"This paper is an extension to the 3-dimensional case of our previous work on planar motion with point contact [2]. Here we study the so called roll-slide spatial motions. Such motions occur whenever point contact between bodies is maintained under spatial motion. We consider instantaneous time-based kinematics and assume the presence of a tactile sensor to measure the relative motion at the point of contact. It is indicated how the derived kinematic relationships can be applied to sensor based robotic path planning.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"15 4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"108","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1987.1087971","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 108
Abstract
This paper is an extension to the 3-dimensional case of our previous work on planar motion with point contact [2]. Here we study the so called roll-slide spatial motions. Such motions occur whenever point contact between bodies is maintained under spatial motion. We consider instantaneous time-based kinematics and assume the presence of a tactile sensor to measure the relative motion at the point of contact. It is indicated how the derived kinematic relationships can be applied to sensor based robotic path planning.
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