Vibrations-Based Universal Planar Manipulation

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Vibrations-BasedUniversal Planar Manipulation

• Dan S. Reznik, PhD Candidate
• John Canny, advisor
• October, 2000

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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Experiments
• Conclusions

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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Experiments
• Conclusions

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Planar Parallel Manipulation
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Manipulation Technologies
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Actuator arrays
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Applications

• Part feeding
• Sorting, inspection
• Planar mating, assembly
• Toys
• Active desks
• Furniture mover

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Main result minimalismOne Horizontal Plate is
Enough!
3 dof gt 2N constraints
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dof amplification
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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Demos
• Conclusion

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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Demos
• Conclusion

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Velocity Field Family
Cx , Cy , k
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Velocity closed under sum
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Sliding Friction
v
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Rotation Force Fields
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Force vs Radius
peak velocity
force
radius
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Force not closed!
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Moving 2 Parts
C2
C1
P2
P1
P2
P1
C4
C3
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Sequence Rotations (1)
C1
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Sequence Rotations (2)
C2
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Sequence Rotations (3)
C3
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Sequence Rotations (4)
C4
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Cross Talk / Noise
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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Demos
• Conclusion

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Sliding Friction (repeated)
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Asymmetry
v(t)
f(t)
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Straight-Line Feeding
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Circular Feeding
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Anything Goes
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The Big Idea Superposition
feed (asym)
rot (sym)
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Average Force
v(t)
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v(t) sum of two sinusoids
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Sinusoidal Interaction
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A good choice
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common root
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Integrating the Jet Field
P
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The Jet a local field
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Jet Video
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Planar Manip Round-Robin Jets
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Jets vs Rotations

• Sequence of Rotations
• Ill-conditioned, at least 2N rotations
• Sensitive to calibration
• Part motion noisy
• Local force fields
• Robust local, diagonalization
• Faster at most N motions

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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Demos
• Conclusion

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Plate Actuation
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The System
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Proto-0
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Proto-1
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Proto-0,1 Motors
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Proto-2
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New Motors
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Proto-3
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Accelerometers
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Interface Board
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User Interface
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Technologies

• Software
• Interface driver
• Computer vision
• Algorithmic control
• Hardware
• Interface board firmware
• Mechanics
• UPM design

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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Demos
• Conclusion

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Bowtie
(vhs)
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Sorter
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PhD Timeline
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Talk Outline

• Planar Manipulation
• Two methods
• Sequencing rotations
• Jet fields
• Prototype
• Demos
• Conclusion

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Summary

• Novel technology 1 plate does-it-all
• Two methods
• Sequencing rotations noisy, unrobust, slow
• Jets robust, fast, practical
• No grippers
• Industrial applications
• Active desks, toys

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How do we stack up?
programmability
actuators
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Future Work Generic Objects
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Other Media
h2o
f1f2
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Thank you!

• www.cs.berkeley.edu/dreznik