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Rapport (Rapport De Recherche) Année : 2003

On the controllability of linear juggling mechanical systems

Résumé

This paper deals with the controllability of a class of nonsmooth complementa- rity mechanical systems. Due to their particular structure they can be decomposed into an "object" and a "robot", consequently they are named juggling systems. It is shown that the accessibility of the "object" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented, including a simple model of backlash. The main focus of the work is about linear jugglers, but extensions towards more complicated models are considered.
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Dates et versions

inria-00071814 , version 1 (23-05-2006)

Identifiants

  • HAL Id : inria-00071814 , version 1

Citer

Bernard Brogliato, Mongi Mabrouk, Arturo Zavala-Rio. On the controllability of linear juggling mechanical systems. [Research Report] RR-4772, INRIA. 2003. ⟨inria-00071814⟩
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