Document Type
Article
Abstract
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 gravity. The hand moves with a full three degrees of freedom in a vertical plane. The proposed controller drives the object to follow a desired trajectory through rolling interaction with the hand. Based on the mathematical model of the system, dynamic feedback linearization is used in the design of the controller. The performance of the controller is demonstrated through simulations considering disturbances and uncertainties.
Publication Date
10-12-2018
Recommended Citation
J.-C. Ryu and K. M. Lynch, "Contact Juggling of a Disk with a Disk-Shaped Manipulator," IEEE Access, Vol. 6, No. 1, pp. 60286-60293, 2018
Original Citation
J.-C. Ryu and K. M. Lynch, "Contact Juggling of a Disk with a Disk-Shaped Manipulator," IEEE Access, Vol. 6, No. 1, pp. 60286-60293, 2018
Department
Department of Mechanical Engineering
Legacy Department
Department of Mechanical Engineering
Sponsorship
NSF Grant IIS-0964665
ISSN
2169-3536
Language
eng
Publisher
IEEE Access
