Published 2004
| public
Book Section - Chapter
Feedback Control for Distributed Manipulation
Abstract
We consider the feedback stabilization of a part being manipulated by a distributed array of actuators. Previously, the authors showed that open loop methods based on programmable vector fields can lead to unstable dynamics, particularly when the effects of rolling and sliding against actuators play a significant role in the dynamics. We show here how to incorporate these factors into the design of feedback laws in order to stabilize the manipulated object to an equilibrium. Experiments on a test-bed illustrate the results.
Additional Information
© 2004 Springer-Verlag Berlin Heidelberg.Additional details
- Eprint ID
- 99205
- DOI
- 10.1007/978-3-540-45058-0_29
- Resolver ID
- CaltechAUTHORS:20191009-160935719
- Created
-
2019-10-09Created from EPrint's datestamp field
- Updated
-
2021-11-16Created from EPrint's last_modified field
- Series Name
- Springer Tracts in Advanced Robotics
- Series Volume or Issue Number
- 7