Analysis of part motion on a longitudinally vibrating plate

Reznik, Dan; Canny, John; Goldberg, Ken

doi:10.1109/iros.1997.649098

Cited by 32 publications

(18 citation statements)

References 12 publications

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“…In the simplest one-DoF case, the plate is horizontal and translates longitudinally. Reznik and Canny examined a particular type of bang-bang motion for this case in [13] and [14]. Okabe et al looked at one-DoF plate motion in which the plate is also angled with respect to the horizontal [15].…”

Section: Introductionmentioning

confidence: 99%

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose¹,

Umbanhowar²,

Lynch³

2008

Robotics: Science and Systems IV

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Abstract-We show that small-amplitude periodic motion of a rigid plate causes point parts on the plate to move as if they are in a position-dependent velocity field. Further, we prove that every periodic plate motion maps to a unique velocity field. By allowing a plate to oscillate with six-degrees-of-freedom, we can create a large family of programmable velocity fields. We examine in detail sinusoidal plate motions that generate fields with either isolated sinks or squeeze lines. These fields can be exploited to perform tasks such as sensorless part orientation.

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Section: Introductionmentioning

confidence: 99%

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose¹,

Umbanhowar²,

Lynch³

2008

Robotics: Science and Systems IV

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“…Canny's group showed that longitudinally vibrating plates can generate a rich vocabulary of programmable force fields [51], and they developed sophisticated dynamic models and dynamic simulators for micro actuator arrays and macroscopic vibrating plates [50]. Kavraki explored the power of elliptic fields capable of posing any part into one of two equilbrium states [33].…”

Section: Discussionmentioning

confidence: 99%

Algorithms for Sensorless Manipulation Using a Vibrating Surface

et al. 2000

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We describe a programmable apparatus that uses a vibrating surface for sensorless, nonprehensile manipulation, where parts are systematically positioned and oriented without sensor feedback or force closure. The idea is to generate and change the dynamic modes of a vibrating surface. Depending on the node shapes of the surface, the position and orientation of the parts can be predicted and constrained. The vibrating surface creates a two-dimensional force vector field. By chaining together sequences of force fields, the equilibrium states of a part in the field can be successively reduced to obtain a desired final state. We describe efficient polynomial-time algorithms that generate sequences of force fields for sensorless positioning and orienting of planar parts, and we show that these strategies are complete. Finally we consider parts feeders that can only implement a finite set of force fields. We show how to plan and execute strategies for these devices. We give numerical examples and experiments. and discuss tradeoffs between mechanical complexity and planning complexity.

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“…This group-within which this article corresponds-includes publications by Reznik et al [7], Huang and Mason [8], Baksys and Puodziuniene [9], Wolfsteiner and Pfeiffer [10], Lim [11], Paleta Hernández [12], Moll and Erdmann [13], and Han and Lee [14]. The best known approach in classical dynamics is a PhD Thesis [12].…”

Section: Introductionmentioning

confidence: 99%