Summary
The Modular Distributed Manipulator System (MDMS) is an array of actuators that is capable of manipulating objects in the plane. This paper presents a controller designed to transport objects to the origin of a coordinate system under rolling contact. A stability proof using the multivariable circle criterion directly accounts for discontinuities due to changing actuator sets. Simulations verify the controller’s effectiveness and show stability even when the contact switches between viscous friction and full rolling contact.
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© 2004 Springer-Verlag Berlin Heidelberg
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Bedillion, M., Messner, W. (2004). Distributed Manipulation with Rolling Contact. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_27
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DOI: https://doi.org/10.1007/978-3-540-45058-0_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-07341-0
Online ISBN: 978-3-540-45058-0
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