Frictional sliding motion in releasing manipulation

The characteristics of frictional sliding motion in releasing manipulation are discussed in this paper. Releasing manipulation is such a manipulation in which an object obtains its initial translational and rotational velocities by the striking of a manipulator and slides on a surface, and comes to stop at the destination with the desired orientation under the action of friction. First, based on our previous work, the properties of releasing manipulation are described. Second, the conclusion that trajectories of arbitrary shaped objects in sliding motion are nearly rectilinear is presented. Third, a phenomenon of simultaneous stopping of translational and rotational motion for arbitrary shaped objects is clarified. Fourth, motion monotonicity for two extreme cases, i.e. initially translation-dominated motion and initially rotation-dominated motion are discussed; several important original results are obtained. With the above obtained results, two simple approaches of determining the necessary initial velocities for releasing manipulation are naturally developed and their accuracies are confirmed.