a universal planar manipulator dan s. reznik & prof. john canny uc-berkeley july, 2000
Post on 20-Dec-2015
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TRANSCRIPT
1 2 3 4 5 6
-1
-0.5
0.5
Velocity Asymmetry
1 2 3 4 5 6
-1.5
-1
-0.5
0.5
Bang-bang
62%56%mg
mg
cos t + 0.5 cos 2t
Interesting Apps
• Novel tangible UI’s– Force feedback with viscous feel– Active desk
• Fancy product displays– Rotate wine bottles
• Fluid-based micro manipulation
Our Idea
• Horizontal Plate: 3 dof• Task: move N-parts• Proposal: Generate local fields
– Move parts almost one-by-one