Discrete Actuator Array Vector eld Design for Distributed Manipulation

نویسندگان

  • Jonathan E. Luntz
  • William Messner
چکیده

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 vector eld which provides arbitrary uniform object dynamics. The vector eld positions, and under certain assumptions, orients objects.

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تاریخ انتشار 1999