A distributed manipulation concept using selective braking

This paper introduces a new distributed manipulation concept whereby objects operating under the action of a uniform force field are positioned perpendicular to the force field and oriented by selectively applying braking forces at various locations on the object. We assume that the braking locations do not slip, which gives the object dynamics the familiar form of the pendulum equation, but with the pendulum hinge location changing as a function of time. Such a system may find applications in parts handling or in the control of robots descending on inclines. This paper discusses the dynamics of such a robotic system and the sequential control of lateral object position and orientation. Simulation results show the effectiveness of the developed control laws.