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Hitting from any direction in 3-D space by a robot with a flexible link hammer

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2 Author(s)
Izumi, T. ; Dept. of Electr. & Electron. Eng., Yamaguchi Univ., Japan ; Hitaka, Y.

This paper describes a hammering robot with a flexible link which can hit an object from an arbitrary direction in a 3-D space. A dynamical equation of a flexible link hammer is presented by taking gravity into consideration. The conditions that the hammer can strike an object flatwise with only a normal velocity to its face are investigated, and a manipulating method to satisfy the hitting conditions is obtained

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Robotics and Automation, IEEE Transactions on  (Volume:13 ,  Issue: 2 )