What Programmable Vector Fields Can (and Cannot) Do: Force Field Algorithms for MEMS and Vibratory Plate Parts Feeders (1996)
| Venue: | IN PROC. IEEE INT. CONF. ON ROBOTICS AND AUTOMATION (ICRA |
| Citations: | 10 - 4 self |
BibTeX
@INPROCEEDINGS{Böhringer96whatprogrammable,
author = {Karl-Friedrich Böhringer and Bruce Randall Donald and Noel C. MacDonald},
title = {What Programmable Vector Fields Can (and Cannot) Do: Force Field Algorithms for MEMS and Vibratory Plate Parts Feeders},
booktitle = {IN PROC. IEEE INT. CONF. ON ROBOTICS AND AUTOMATION (ICRA},
year = {1996},
pages = {822--930},
publisher = {}
}
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Abstract
Programmable vector fields can be used to control a variety of flexible planar parts feeders. These devices can exploit exotic actuation technologies such as arrayed, massively-parallel microfabricated motion pixels or transversely vibrating (macroscopic) plates. These new automation designs promise great flexibility, speed, and dexterity -- we believe they may be employed to orient, singulate, sort, feed, and assemble parts. However, since they have only recently been invented, programming and controlling them for manipulation tasks is challenging. When apart is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds (i.e., impossibility results) on what the devices cannot do, and results on a classification of control strategies yielding design criteria by which well-behaved manipulation strategies may be developed. We suggest sufficient conditions for programmable...
