Distributed Manipulation with an Actuator Array and Vision Feedback

Actuator arrays are planar distributed manipulation systems that use multiple single degree of freedom actuators to manipulate objects with three degrees of freedom (x, y, and thetas). This paper describes design and control of a prototype actuator array, the advanced distributed manipulation system (ADMS). Unlike prior actuator array prototypes, the ADMS uses vision feedback from a centralized camera and is large enough to include transitions between sets of supporting actuators. Control laws are presented for both regulating and trajectory tracking control and their stability properties are summarized. Experiments show the stability of proportional control, but also show the existence of limit cycles for desired equilibria that are near changes in the set of supporting actuators.