Discrete Actuator Array Vectorfield Design for Distributed Manipulation

Jonathan E. Luntz, William C. Messner, Howie Choset

Abstract: The modular distributed manipulator system (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vectorfield which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects.