Contact Juggling of a Disk With a Disk-Shaped Manipulator

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 gravi...

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Veröffentlicht in:	IEEE access 2018, Vol.6, p.60286-60293
Hauptverfasser:	Ryu, Ji-Chul, Lynch, Kevin M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration contact juggling Control systems design Disks Dynamic feedback linearization Dynamics Feedback control Feedback linearization Manipulator dynamics Manipulators Mathematical model nonprehensile manipulation rolling manipulation Trajectory
Online-Zugang:	Volltext
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