TABLE OF CONTENTS Jonathan Luntz, Carnegie Mellon University, Pittsburgh, PA, USA
William Messner, Carnegie Mellon University, Pittsburgh, PA, USA
Howie Choset, Carnegie Mellon University, Pittsburgh, PA, USA
The Modular Distributed Manipulator System (MDMS) is a novel materials handling system which is a fixed array of actuated wheels capable of inducing arbitrary motions in the plane. This work develops control laws for transporting and manipulating macroscopic-scale objects (parcels) that rest on the array. The dynamics of parcel transport and manipulation lead to the necessary understanding of such laws. The dynamics are based on an exact discrete representation of the system, unlike other methods where a continuity assumption is made. Given a particular set of wheel speeds, the dynamics of a parcel's motion are derived by examining the distribution of weight among the supporting cells subject to a friction model governing the parcel-wheel contact. The resulting relationship between parcel behavior and wheel speeds can be inverted, therefore wheel speeds can be calculated from desired parcel behavior.
The Modular Distributed Manipulator System (MDMS) transfers, as well as manipulates, objects in the plane, enhancing applications such as flexible manufacturing and package handling systems. Flexible manufacturing requires that working part paths be arbitrarily specified and that these paths be readily updated by a "factory programmer." Package handling systems, such as airport baggage handling, require parcels to be sorted, oriented, and transported to one of several locations.
Two existing methods of material transfer are conveyor belts and robotic manipulators. The conveyor belts transfer many large...
