Title :
Global asymptotic stability of a passive juggler: a parts feeding strategy
Author :
Swanson, P.J. ; Burridge, R.R. ; Koditschek, D.E.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
Abstract :
In this paper we demonstrate that a passive vibration strategy can bring a 1 degree of freedom ball to a known trajectory from all possible initial configurations. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analytical results to the parts feeding problem
Keywords :
assembling; asymptotic stability; materials handling; production control; robots; global asymptotic stability; parts feeding strategy; passive juggler; passive vibration; sensorless assembly; Analytical models; Artificial intelligence; Asymptotic stability; Educational institutions; Laboratories; Machinery production industries; Manufacturing industries; Robot vision systems; Robotic assembly; Service robots;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525554
