Title :
Distributed manipulation with stick-slip contact
Author :
Bedillion, Mark ; Messner, William
Author_Institution :
Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Actuator arrays are planar arrangements of two degree-of-freedom actuators that cooperatively translate and orient objects for efficient manipulation. This paper derives the equations of motion for an object with the friction interface switching between slip and no-slip contact at each actuator. A controller derived from kinematics is presented and its stability analyzed with the multivariable circle criterion. Stability results are verified through simulation.
Keywords :
distributed control; friction; kinematics; mechanical contact; microactuators; stability; actuator arrays; controller; distributed manipulation; friction interface switching; kinematics; motion equation; multivariable circle criterion; stability; stick-slip contact; two degree-of-freedom actuators; Actuators; Add-drop multiplexers; Equations; Force control; Friction; Large-scale systems; Microscopy; Motion control; Stability criteria; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250738
