Abstract
This paper discusses the behavior of a sphere object sandwiched by a parallel gripper, while catching. Through the analysis, we found an interesting behaviors of the sphere, where the object never stops under υTω ≠ 0 and the object with υTω ≠ 0 first results in υTω = 0 before starting a rolling motion at one side of contact point. These behaviors are supported by three theorems. We also show some simulation for confirming the analytical results.
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