Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders

Actuator arrays are planar distributed manipulation systems that use multiple two degree-of-freedom actuators to manipulate objects with three degrees of freedom (x, y, and θ). Prior work has discussed actuator array dynamics while neglecting the inertia of the actuators; this paper extends prior work to the case of non-negligible actuator inertia. The dynamics are presented using a standard friction model incorporating stiction. Simulation results are presented that show object motion under previously derived control laws.

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Generation of quadratic potential force fields from flow fields for distributed manipulation

IEEE Transactions on Robotics ◽

10.1109/tro.2005.858858 ◽

2006 ◽

Vol 22 (1) ◽

pp. 108-118 ◽

Cited By ~ 17

Author(s):

K. Varsos ◽

Hyungpil Moon ◽

J. Luntz

Keyword(s):

Force Fields ◽

Flow Fields ◽

Potential Force ◽

Quadratic Potential ◽

Distributed Manipulation

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Analysis, decomposition and superposition of quadratic potential force fields for distributed manipulation

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) ◽

10.1109/iros.2003.1249644 ◽

2004 ◽

Cited By ~ 2

Author(s):

K. Varsos ◽

J. Luntz

Keyword(s):

Force Fields ◽

Potential Force ◽

Quadratic Potential ◽

Distributed Manipulation

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Vector fields for task-level distributed manipulation: experiments with organic micro actuator arrays

Proceedings of International Conference on Robotics and Automation ◽

10.1109/robot.1997.614410 ◽

2002 ◽

Cited By ~ 6

Author(s):

K.-F. Bohringer ◽

J.W. Suh ◽

B.R. Donald ◽

G.T.A. Kovacs

Keyword(s):

Vector Fields ◽

Micro Actuator ◽

Distributed Manipulation ◽

Actuator Arrays ◽

Task Level

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Generation of Quadratic Force Fields from Potential Flow Fields for Distributed Manipulation

Proceedings of the 2005 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.2005.1570250 ◽

2006 ◽

Cited By ~ 4

Author(s):

K. Varsos ◽

Hyungpil Moon ◽

J. Luntz

Keyword(s):

Potential Flow ◽

Force Fields ◽

Flow Fields ◽

Distributed Manipulation

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Distributed manipulation along trajectories using open-loop force fields

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) ◽

10.1109/robot.2002.1014707 ◽

2003 ◽

Cited By ~ 2

Author(s):

K. Varsos ◽

J. Luntz

Keyword(s):

Force Fields ◽

Open Loop ◽

Distributed Manipulation

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Distributed Sensing in Actuator Array Manipulation

Volume 4A: Dynamics, Vibration and Control ◽

10.1115/imece2013-62499 ◽

2013 ◽

Cited By ~ 1

Author(s):

Mark D. Bedillion ◽

Deepak Parajuli ◽

Randy C. Hoover

Keyword(s):

Degrees Of Freedom ◽

Binary Image ◽

Distributed Sensing ◽

Distributed Manipulation ◽

Actuator Arrays ◽

Sensor Information ◽

Position And Orientation ◽

Binary Object ◽

Two Degree Of Freedom ◽

Three Degrees Of Freedom

Actuator arrays are planar distributed manipulation systems that use multiple two degree-of-freedom actuators to manipulate objects with three degrees of freedom (x, y, and θ). This paper describes methods of sensing the position and orientation of objects on an actuator array using only binary object sensors at each actuator. The object sensor information, when combined, forms a binary image of the object which may be processed to recover object pose. The methods’ effectiveness for rectangular objects is verified via simulation.

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