3-DOF potential air flow manipulation by inverse modeling control.

Anne Delettre (1) , Guillaume J. Laurent (1) , Nadine Le Fort-Piat (1) , Christophe Varnier (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

Potential air flows can be used to perform nonprehensile contactless manipulations of objects gliding on airhockey table. In this paper, we introduce a general method able to perform 3-DOF position control of an object with potential air flow manipulators. This approach is based on an inverse modeling control scheme to perform closed-loop position servoing. We propose to use a linear programming algorithm to determine which sinks have to be activated in order to produce the suitable potential air flow to obtain the desired object motion. This approach is then validated on an experimental manipulator.

Domaines: Micro et nanotechnologies/Microélectronique

Anne Delettre, Guillaume J. Laurent, Nadine Le Fort-Piat, Christophe Varnier. 3-DOF potential air flow manipulation by inverse modeling control.. IEEE International Conference on Automation Science and Engineering, CASE'12., Aug 2012, Séoul, South Korea. pp.926-931. ⟨hal-00734018⟩