3-DOF potential air flow manipulation by inverse modeling control

Potential air flows can be used to perform non-prehensile contactless manipulations of objects gliding on air-hockey table. In this paper, we introduce a general method able to perform 3-DOF position control of an object with potential air flow manipulators. This approach is based on an inverse mode...

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Bibliographic Details
Published in2012 IEEE International Conference on Automation Science and Engineering (CASE) pp. 930 - 935
Main Authors Delettre, A., Laurent, G. J., Le Fort-Piat, N., Varnier, C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2012
Subjects
Force
Inverse problems
Linear programming
Manganese
Manipulators
Torque
Valves
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Summary:Potential air flows can be used to perform non-prehensile contactless manipulations of objects gliding on air-hockey table. In this paper, we introduce a general method able to perform 3-DOF position control of an object with potential air flow manipulators. This approach is based on an inverse modeling control scheme to perform closed-loop position servoing. We propose to use a linear programming algorithm to determine which sinks have to be activated in order to produce the suitable potential air flow to obtain the desired object motion. This approach is then validated on an experimental manipulator.
ISBN:1467304298
9781467304290
ISSN:2161-8070
2161-8089
DOI:10.1109/CoASE.2012.6386380