NDLI: Superposition Methods for Distributed Manipulation Using Quadratic Potential Force Fields

Content Provider	IEEE Xplore Digital Library
Author	Varsos, K. Luntz, J.
Copyright Year	2004
Abstract	Planar quadratic potential fields are useful for distributed manipulation because they are readily analyzable and naturally produce predictable equilibria. This generally simplifies implementation, since feedback and control may not be necessary. Traditionally, to dynamically produce moving fields for complex manipulation tasks, these fields had to be realized by highly capable, but redundant, actuator arrays. This paper suggests a new method: using simpler devices to generate basic component fields, and superposing these fields to produce desired fields with similar degrees of freedom. This approach is particularly useful for naturally produced force fields which do not allow the dynamic moving and changing of a field, but allow for superposition, and thus, can be spatially combined to produce the desired net behaviors. A vector representation of these fields is developed and applied to two problems: how to place the fields in space to span the maximum possible configuration space; and how to generate an optimal solution to generate a desired field by a superposition of a fixed field arrangement with minimal effort from each field. We experimentally validated these methods using airflow fields based on phenomenological and time superposition. Finally, we use superposition to simplify trajectory following, by blending proportions of two fields over time and by superimposing a set of component fields, each responsible for compensating a particular dynamic term
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1202
Ending Page	1215
Page Count	14
File Size	1153907
File Format	PDF
ISSN	15523098
Volume Number	22
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Linear feedback control systems Force sensors Motion control Manipulator dynamics Control systems Sun Engineering profession Intelligent robots Mechanical engineering quadratic potential fields Distributed manipulation parts feeding programmable force fields
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Superposition of Quadratic Potential Force Fields for Distributed Manipulation

Generation of quadratic potential force fields from flow fields for distributed manipulation

Analysis, decomposition and superposition of quadratic potential force fields for distributed manipulation

Generation of Quadratic Force Fields from Potential Flow Fields for Distributed Manipulation

Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

Independent Stiffness and Force Control of Pneumatic Actuators for Contact Stability during Robot Manipulation

Dynamics and control of discrete distributed manipulation

An analysis of distributed vibration control of flexible manipulators using integral manifolds

Implementation of cooperative manipulation using decentralized robust position/force control

Superposition Methods for Distributed Manipulation Using Quadratic Potential Force Fields

Similar Documents

Superposition of Quadratic Potential Force Fields for Distributed Manipulation

Generation of quadratic potential force fields from flow fields for distributed manipulation

Analysis, decomposition and superposition of quadratic potential force fields for distributed manipulation

Generation of Quadratic Force Fields from Potential Flow Fields for Distributed Manipulation

Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

Independent Stiffness and Force Control of Pneumatic Actuators for Contact Stability during Robot Manipulation

Dynamics and control of discrete distributed manipulation

An analysis of distributed vibration control of flexible manipulators using integral manifolds

Implementation of cooperative manipulation using decentralized robust position/force control

Superposition Methods for Distributed Manipulation Using Quadratic Potential Force Fields