Motion control of macro-scale objects using large-area arrays of MEMS-like distributed manipulators
We describe position sensing algorithms used in an airjet paper moving system built at Xerox PARC. The algorithms combine inputs from optical sensors and compute the rectangle best fitting the data. We consider two different types of sensors: fax scan bars and disk-shaped area sensors. Our algorithms proved to be quite effective both in simulation and in actual use.
Berlin, A. A. ; Biegelsen, D. K. ; Reich, J. E. ; Jackson, W. B. ; Cheung, P. C. ; Fromherz, M. P. J. ; Preas, B. T. ; Swartz, L. E. ; Goldberg, D. Motion control of macro-scale objects using large-area arrays of MEMS-like distributed manipulators. 7th Mechatronics Forum International Conference; 2000 September 6-8; Atlanta, GA.