Document Type

Article

Media Type

Text

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

Department

Department of Mechanical Engineering

Sponsorship

NSF Grant IIS-0964665

ISSN

2169-3536

Language

eng

Publisher

IEEE Access

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