A Universal Planar Manipulator Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000.
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A Universal Planar Manipulator Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000
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Transcript of A Universal Planar Manipulator Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000.
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Velocity Asymmetry
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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