On the Control of a One Degree-of-Freedom Juggling Robot

Bernard Brogliato (1) , Arturo Zavala-Río (1)

1 LAG - Laboratoire d'automatique de Grenoble

This paper is devoted to the feedback control of a one degree-of-freedom (dof) juggling robot, considered as a subclass of mechanical systems subject to a unilateral constraint. The proposed approach takes into account the whole dynamics of the system, and focuses on the design of a force input. It consists of a family of hybrid feedback control laws, that allow to stabilize the object around some desired (periodic or not) trajectory. The closed-loop behavior in presence of various disturbances is studied. Despite good robustness properties, the importance of good knowledge of the system parameters, like the restitution coefficient, is highlighted. Besides its theoretical interest concerning the control of a class of mechanical systems subject to unilateral constraints, this study has potential applications in non-prehensile manipulation, extending pushing robotic tasks to striking-and-pushing tasks.

Mots clés: nonsmooth mechanical systems; juggling; hybrid control; robustness; viability; non-prehensile manipulation

Domaines: Automatique / Robotique

Bernard Brogliato, Arturo Zavala-Río. On the Control of a One Degree-of-Freedom Juggling Robot. Dynamics and Control, 1999, 9 (1), pp.67-91. ⟨10.1023/A:1008346825330⟩. ⟨hal-02303974⟩