Automatically assigned DDC number: 629892

Manually assigned DDC number: 629892

Number of references: 16

Title: The Universal Planar Manipulator

Author:

Subject: Dan S. Reznik The Universal Planar Manipulator

Description: The Universal Planar Manipulator by Dan S. Reznik Doctor of Philosophy in Computer Science University of California at Berkeley Prof. John F. Canny, Chair This dissertation is about a novel technology for planar part manipulation. A device has been developed, called the Universal Planar Manipulator (UPM), based on a single actuator: a rigid, horizontal plate which vibrates in its own plane (3 degrees of freedom). Generic parts (bottles, tools, etc.) placed on the UPM's plate move as a result of friction. Our main contribution has been to develop control algorithms for the UPM which allow it to manipulate several parts in parallel. The UPM's actuation simplicity combined with its open workspace (no grippers) renders it appealing to existing industrial applications and novel interactive devices such as toys and active desks. Prof. John F. Canny Dissertation Committee Chair iii To my parents Hania and Alberto Reznik and to my grandmother Hedwig Friedlander. iv Contents List of F...

Contributor: The Pennsylvania State University CiteSeer Archives

Publisher: unknown

Date: 2000-10-27

Pubyear: 2000

Format: ps

Identifier: http://citeseer.ist.psu.edu/374097.html

Source: http://www.CS.Berkeley.EDU/~dreznik/Pubs/phd.ps.gz

Language: en

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