Title :
Discrete actuator array vectorfield design for distributed manipulation
Author :
Luntz, Jonathan E. ; Messner, William ; Choset, Howie
Author_Institution :
Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
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
Keywords :
actuators; dynamics; friction; materials handling; matrix algebra; discrete actuator array; exact discrete representation; macroscopic actuator array; modular distributed manipulator system; piecewise-constant dynamics; vectorfield; Actuators; Flexible manufacturing systems; Manipulator dynamics; Mechanical engineering; Oscillators; Packaging; Prototypes; Sensor arrays; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770438
