On the Control of a One Degree-of-Freedom Juggling Robot

This paper is devoted to the feedback control of a 1-DOF juggling robot, considered as a subclass of mechanical systems subject to a unilateral constraint. The proposed approach takes into account the whole dynamics of the system, and focuses on the design of a force input. It consists of a family o...

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Bibliographic Details
Published inDynamics and control Vol. 9; no. 1; pp. 67 - 90
Main Authors Zavala-Rio, A., Brogliato, B.
Format Journal Article
LanguageEnglish
Published Springer Verlag 01.01.1999
Subjects
Automatic
Engineering Sciences
robustness
hybrid control
nonsmooth mechanical systems
non-prehensile manipulation
juggling
viability
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ISSN0925-4668
1573-8450
1573-8450
DOI10.1023/A:1008346825330

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Summary:This paper is devoted to the feedback control of a 1-DOF juggling robot, considered as a subclass of mechanical systems subject to a unilateral constraint. The proposed approach takes into account the whole dynamics of the system, and focuses on the design of a force input. It consists of a family of hybrid feedback control laws that make it possible to stabilize the object around some desired (periodic or not) trajectory. The closed-loop behavior in the presence of various disturbances is studied. Despite good robustness properties, the importance of a good knowledge of the system parameters, such as the restitution coefficient, is highlighted. Besides its theoretical interest concerning the control of a class of mechanical systems subject to unilateral constraints, this study has potential applications in nonprehensile manipulation, extending pushing robotic tasks to striking-and-pushing tasks. (Author)
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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ISSN:0925-4668
1573-8450
1573-8450
DOI:10.1023/A:1008346825330