On the control of a one degree-of-freedom juggling robot (Q1283373): Difference between revisions
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scientific article
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English | On the control of a one degree-of-freedom juggling robot |
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On the control of a one degree-of-freedom juggling robot (English)
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5 October 1999
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The present paper treats the feedback control of a one degree-of-freedom juggling robot, considered as a subclass of mechanical systems subject to a unilateral constraint. The whole dynamics of the system is taken into account and one focuses on the design of a force input. The proposed approach consists of a family of hybrid feedback control laws that allow to stabilize the object around some desired trajectory. Besides the theoretical interest, this work has potential applications in non-prehensile manipulation, extending pushing robotic tasks to striking-and-pushing tasks.
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tracking
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juggling robot
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unilateral constraint
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hybrid feedback
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