Closed-loop distributed manipulation using discrete actuator arrays.
A discrete actuator array performs distributed programmable manipulations, using a planar array of many small stationary cells, each of which applies a force in the plane to a larger objects which rests atop many cells at once. The difference between the usual microelectromechanical actuary arrays (MEMS) and discrete modular distributed manipulation systems (MDMS) is, that for MEMS the large number of actuators justifies the assumption that the forces from the discrete actuators act as a continuous force field over the area of the object, making the use of potential field theory possible. When analyzing the MDMS situation, the discreteness of the cells must be taken into account. Here the cell is made up of a pair of motorized roller wheels, which together can apply a directable traction force on the object. Using a constant wheel velocity field, the discreteness causes an undesirable stability behavior (unstable rotational equilibrium). The authors develop stable closed loop control strategies. An 18-cell prototype MDMS was built, and the control test results are reported.NEWLINENEWLINEFor the entire collection see [Zbl 0962.00009].
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