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Vibrations-Based Universal Planar Manipulation

Vibrations-Based Universal Planar Manipulation. Dan S. Reznik, PhD Candidate John Canny, advisor October, 2000. Talk Outline. Planar Manipulation Two methods Sequencing rotations Jet fields Prototype Experiments Conclusions. Talk Outline. Planar Manipulation Two methods

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Vibrations-Based Universal Planar Manipulation

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  1. Vibrations-BasedUniversal Planar Manipulation Dan S. Reznik, PhD Candidate John Canny, advisor October, 2000

  2. Talk Outline • Planar Manipulation • Two methods • Sequencing rotations • Jet fields • Prototype • Experiments • Conclusions

  3. Talk Outline • Planar Manipulation • Two methods • Sequencing rotations • Jet fields • Prototype • Experiments • Conclusions

  4. Planar Parallel Manipulation

  5. Manipulation Technologies

  6. Actuator arrays

  7. Applications • Part feeding • Sorting, inspection • Planar mating, assembly • Toys • Active desks • Furniture mover

  8. (x,y,q) Main result: minimalismOne Horizontal Plate is Enough! 3 dof => 2N constraints

  9. “dof amplification”

  10. Talk Outline • Planar Manipulation • Two methods • Sequencing rotations • Jet fields • Prototype • Demos • Conclusion

  11. Talk Outline • Planar Manipulation • Two methods • Sequencing rotations • Jet fields • Prototype • Demos • Conclusion

  12. Velocity Field Family Cx , Cy , k

  13. Velocity: closed under sum

  14. Sliding Friction v

  15. Rotation Force Fields

  16. Force vs Radius peak velocity force radius

  17. Force: not closed!

  18. Moving 2 Parts C2 C1 P2’ P1 P2 P1’ C4 C3

  19. Sequence Rotations (1) C1

  20. Sequence Rotations (2) C2

  21. Sequence Rotations (3) C3

  22. Sequence Rotations (4) C4

  23. C4 Cross Talk / Noise

  24. Talk Outline • Planar Manipulation • Two methods • Sequencing rotations • Jet fields • Prototype • Demos • Conclusion

  25. v Sliding Friction (repeated)

  26. Asymmetry v(t) f(t)

  27. Straight-Line Feeding

  28. Circular Feeding

  29. Anything Goes

  30. The Big Idea: Superposition feed (asym) rot (sym)

  31. Average Force v(t)

  32. S v(t) = sum of two sinusoids

  33. Sinusoidal Interaction

  34. A good choice

  35. common peak: common root:

  36. Integrating the Jet Field P

  37. The Jet: a local field

  38. Jet Video

  39. (x,y,q) Planar Manip = Round-Robin Jets

  40. Jets vs Rotations • Sequence of Rotations • Ill-conditioned, at least 2N rotations • Sensitive to calibration • Part motion noisy • Local force fields • Robust: local, diagonalization • Faster: at most N motions

  41. Talk Outline • Planar Manipulation • Two methods • Sequencing rotations • Jet fields • Prototype • Demos • Conclusion

  42. Plate Actuation

  43. The System

  44. Proto-0

  45. Proto-1

  46. Proto-{0,1} Motors

  47. Proto-2

  48. New Motors

  49. Proto-3

  50. Accelerometers

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