• DocumentCode
    1500981
  • Title

    Recurrence, controllability, and stabilization of juggling

  • Author

    Lynch, Kevin M. ; Black, Craig K.

  • Author_Institution
    Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
  • Volume
    17
  • Issue
    2
  • fYear
    2001
  • fDate
    4/1/2001 12:00:00 AM
  • Firstpage
    113
  • Lastpage
    124
  • Abstract
    This paper applies the idea of forced recurrence to demonstrate controllability and stabilizability of a single-input juggling system. Nonlinear optimization is used to find controls in a neighborhood of the recurrent controls that drive the system toward the goal trajectory. The approach is demonstrated on an experimental juggling system
  • Keywords
    controllability; manipulator dynamics; manipulator kinematics; optimisation; path planning; stability; controllability; dynamics; juggling system; motion planning; optimization; recurrence; robotic manipulators; stabilization; Control systems; Controllability; Convergence; Heuristic algorithms; Limit-cycles; Motion control; Nonlinear control systems; Robots; Satellites; State-space methods;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.928557
  • Filename
    928557
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1500981