In this work we examined experimentally the motions involved in handing of an object over a plane. First, we investigated the profiles of the handing motion and receiving motion respectively. Experimental results show that the former has the same profile as those of positioning motion, and that the latter is explained by the minimum jerk model with a via point. Second, we investigated the characteristics of relative motions. Experimental results show that there exist three timings of handing and receiving, and that a learning effect occurs. Finally we investigated the effect of direction on the motions.
|Number of pages||8|
|Journal||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|Publication status||Published - 1 Jan 1997|