Graphics enhanced version of this site

Minimization of energy in quasistatic manipulation
M.A. Peshkin and A.C. Sanderson
Proceedings of the 1988 IEEE International Conference on Robotics and Automation (ICRA '88), Vol. 1, April, 1988, pp. 421 - 426.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [486 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Quasistatic mechanical systems, in which mass or acceleration is sufficiently small for the inertial term ma in F=ma to be negligible compared to dissipative forces, are discussed. It is pointed out that many instances of robotic manipulation can be well approximated as quasistatic systems, with the dissipative force being dry friction. Energetic formulations of Newton's laws have often been found useful in the solution of mechanics problems involving multiple constraints. An intuitive minimum power principle is outlined which states that a system chooses at every instant the lowest-energy, or `easiest', motion in conformity with the constraints. Surprisingly, the principle is in general false; but it is proved that the principle is correct in the useful special case that Coulomb friction is the only dissipative or velocity-dependent force acting in the system

Number of pages: 6

M.A. Peshkin and A.C. Sanderson, "Minimization of energy in quasistatic manipulation," Proceedings of the 1988 IEEE International Conference on Robotics and Automation (ICRA '88), Vol. 1, April, 1988, pp. 421 - 426.

@inproceedings{Peshkin_1988_4513,
   author = "M A Peshkin and Arthur C Sanderson",
   title = "Minimization of energy in quasistatic manipulation",
   booktitle = "Proceedings of the 1988 IEEE International Conference on Robotics and Automation (ICRA '88)",
   month = "April",
   year = "1988",
   volume = "1",
   pages = "421 - 426"
}