Nonprehensile manipulation of a stick using impulsive forces
Nonprehensile manipulation of a stick using impulsive forces
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DOI：
10.1007/s11071-022-07826-4
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发表时间：
2022-02
影响因子：
5.6
通讯作者：
Aakash Khandelwal;N. Kant;R. Mukherjee
中科院分区：
文献类型：
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作者：
Aakash Khandelwal;N. Kant;R. Mukherjee
研究了在三维空间中利用间歇脉冲力对杆进行非连续操纵的问题。其目的是在一系列关于垂直轴旋转对称的配置之间玩弄操纵杆。杆的动力学由五个广义坐标和三个控制输入描述。在两个连续的配置，脉冲输入的应用，动力学方便地表示为一个庞加莱映射在参考系的杂耍。与期望的杂耍运动相关联的轨道的稳定化通过稳定庞加莱映射上的固定点来实现。脉冲控制的庞加莱映射方法被用来稳定的轨道，和数值模拟被用来证明收敛到所需的杂耍运动从一个任意的初始配置。在限制的情况下，连续的旋转对称配置被任意选择关闭，它示出的动态减少到稳定的旋进的棒上的箍。
The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a sequence of configurations that are rotationally symmetric about the vertical axis. The dynamics of the stick is described by five generalized coordinates and three control inputs. Between two consecutive configurations where impulsive inputs are applied, the dynamics is conveniently represented by a Poincaré map in the reference frame of the juggler. Stabilization of the orbit associated with a desired juggling motion is accomplished by stabilizing a fixed point on the Poincaré map. The Impulse Controlled Poincaré Map approach is used to stabilize the orbit, and numerical simulations are used to demonstrate convergence to the desired juggling motion from an arbitrary initial configuration. In the limiting case, where consecutive rotationally symmetric configurations are chosen arbitrarily close, it is shown that the dynamics reduces to that of steady precession of the stick on a hoop.