Contact Juggling of a Disk with a Disk-Shaped Manipulator

被引：7
|
作者：
Ryu, Ji-Chul [1 ]
Lynch, Kevin M. [2 ,3 ]
机构：
[1] Northern Illinois Univ, Mech Engn Dept, De Kalb, IL 60115 USA
[2] Northwestern Univ, Neurosci & Robot Lab, Evanston, IL 60208 USA
[3] Northwestern Univ, Mech Engn Dept, Evanston, IL 60208 USA
来源：
IEEE ACCESS | 2018年 / 6卷
关键词：
Dynamic feedback linearization; nonprehensile manipulation; rolling manipulation; contact juggling; NONPREHENSILE MANIPULATION; DYNAMIC MANIPULATION; BALANCING SYSTEM; ROLLING SPHERE; STABILIZATION; BALL; MOTION; LINEARIZATION; EXAMPLE;
D O I：
10.1109/ACCESS.2018.2875410
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a feedback controller that enables contact juggling manipulation of a disk with a disk-shaped manipulator, called the mobile disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravity. The hand moves with a full three degrees of freedom in a vertical plane. The proposed controller drives the object to follow a desired trajectory through rolling interaction with the hand. Based on the mathematical model of the system, dynamic feedback linearization is used in the design of the controller. The performance of the controller is demonstrated through simulations considering disturbances and uncertainties.
引用
收藏
页码：60286 / 60293
页数：8
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