A study on juggling tasks

Discusses robot motion planning in dynamic environment, that is, generation of a motion pattern to attain a working purpose. The authors examine the relation between this redundancy and the dynamic dexterity of robots. Especially the authors focus on `juggling´ as a typical example of such a working purpose(task). To juggle several balls in the gravitational field, the motion of the robot is determined considering the dynamic property of balls. It is shown that a parametric representation of the robot motion makes it easy to generate an appropriate trajectory of the end-effector for `juggling task´