Discrete actuator array vectorfield design for distributed manipulation

The modular distributed manipulator system (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling...

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Bibliographic Details
Main Authors: Luntz, J.E., Messner, W., Choset, H.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Flexible manufacturing systems
Manipulator dynamics
Mechanical engineering
Oscillators
Packaging
Prototypes
Sensor arrays
Vehicle dynamics
Wheels
Online Access:Request full text
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Description
Summary:The modular distributed manipulator system (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vectorfield which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.770438