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• W2148462247 abstract "Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small stationary elements, which cooperate to manipulate larger objects through the generation of a programmable force field. The paper demonstrates a methodology to perform trajectory following to transport objects with specified position and orientation. Open-loop elliptic force fields transport objects by pulling them along the trajectory both in position and orientation. This is done in three stages: purely open loop, open loop with feed-forward compensation to correct for steady-state error on lines and around circular curves, and closed-loop with both feed-forward and small-signal linearized feedback. These approaches apply to arbitrary paths through linear and circular trajectory approximations. Results are verified through simulation." @default.
• W2148462247 created "2016-06-24" @default.
• W2148462247 creator A5017461499 @default.
• W2148462247 creator A5031046794 @default.
• W2148462247 date "2003-06-25" @default.
• W2148462247 modified "2023-09-25" @default.
• W2148462247 title "Distributed manipulation along trajectories using open-loop force fields" @default.
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• W2148462247 doi "https://doi.org/10.1109/robot.2002.1014707" @default.
• W2148462247 hasPublicationYear "2003" @default.
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