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 the calculation of an open-loop vectorfield which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects.

Authors

• Jonathan E. Luntz
• William C. Messner
• Howie Choset

Keywords

• Actuators
• Vehicle dynamics
• Wheels
• Manipulator dynamics
• Prototypes
• Sensor arrays
• Oscillators
• Mechanical engineering
• Flexible manufacturing systems
• Packaging
• Vector Field
• Array Of Actuators
• Object Plane
• Center Of Mass
• Flow Velocity
• Spring Constant
• Velocity Vector
• Object-oriented
• Object Motion
• Normal Force
• Function Of Orientation
• Radially Symmetric
• Net Force
• Dynamic Objects
• Entire Array
• Identically Zero
• Translational Dynamics
• Black Rectangle
• Object Rotation
• Symmetric Objects
• Wheel Speed
• Friction Law
• Objective Function
• First Quadrant