Superposition Methods for Distributed Manipulation Using Quadratic Potential Force Fields
Superposition Methods for Distributed Manipulation Using Quadratic Potential Force Fields
复制标题
使用二次势力场的分布式操纵的叠加方法
DOI：
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发表时间：
2006
影响因子：
7.8
通讯作者：
J. Luntz
中科院分区：
文献类型：
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作者：
K. Varsos;J. Luntz
平面二次电位字段对于分布式操作很有用，因为它们易于分析并自然产生可预测的平衡。这通常简化了实施，因为可能不需要反馈和控制。传统上，要动态地生产用于复杂的操纵任务的移动领域，这些领域必须由高功能但多余的执行器阵列实现。本文提出了一种新方法：使用更简单的设备生成基本组件字段，并超级构成这些字段以产生具有相似自由度的所需字段。这种方法对于不允许动态移动和更改的自然产生的力场特别有用，但可以在空间上组合叠加以产生所需的净行为。开发了这些字段的向量表示形式并应用于两个问题：如何将字段放置在空间中以跨越最大可能的配置空间；以及如何通过固定场布置的叠加来生成最佳解决方案，以最小的努力来生成所需的场。我们使用基于现象学和时间叠加的气流场实验验证了这些方法。最后，我们使用叠加来简化轨迹以下，通过随着时间的推移将两个字段的比例混合并叠加一组组件字段，每个字段都负责补偿特定的动态术语
Planar quadratic potential fields are useful for distributed manipulation because they are readily analyzable and naturally produce predictable equilibria. This generally simplifies implementation, since feedback and control may not be necessary. Traditionally, to dynamically produce moving fields for complex manipulation tasks, these fields had to be realized by highly capable, but redundant, actuator arrays. This paper suggests a new method: using simpler devices to generate basic component fields, and superposing these fields to produce desired fields with similar degrees of freedom. This approach is particularly useful for naturally produced force fields which do not allow the dynamic moving and changing of a field, but allow for superposition, and thus, can be spatially combined to produce the desired net behaviors. A vector representation of these fields is developed and applied to two problems: how to place the fields in space to span the maximum possible configuration space; and how to generate an optimal solution to generate a desired field by a superposition of a fixed field arrangement with minimal effort from each field. We experimentally validated these methods using airflow fields based on phenomenological and time superposition. Finally, we use superposition to simplify trajectory following, by blending proportions of two fields over time and by superimposing a set of component fields, each responsible for compensating a particular dynamic term