Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces
Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces
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DOI：
10.1007/s11071-021-06254-0
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发表时间：
2021-02
影响因子：
5.6
通讯作者：
N. Kant;R. Mukherjee
中科院分区：
文献类型：
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作者：
N. Kant;R. Mukherjee
杂耍的魔鬼棒可以被描述为一个问题的非易失性操作。假设魔鬼棒仍然局限于垂直平面，杂耍棒之间的两个对称配置的问题被认为是。脉冲力间歇性地施加到杆上，并且力的脉冲及其施加点被建模为系统的控制输入。由于脉冲力和重力的魔鬼棒的动力学描述的两个庞加莱截面之间的半返回映射;对称配置是这些部分的不动点。一个坐标变换是用来转换的杂耍问题，稳定的一个不动点。在动态模型中包含坐标变换导致非线性离散时间系统。其中一个输入的无差拍设计简化了控制问题，并导致线性时不变离散时间系统。标准的控制技术被用来表明，对称杂耍可以实现从任意的初始条件。
Juggling a devil-stick can be described as a problem of non-prehensile manipulation. Assuming that the devil-stick remains confined to the vertical plane, the problem of juggling the stick between two symmetric configurations is considered. Impulsive forces are applied to the stick intermittently and the impulse of the force and its point of application are modeled as control inputs to the system. The dynamics of the devil-stick due to the impulsive forces and gravity is described by half-return maps between two Poincaré sections; the symmetric configurations are fixed points of these sections. A coordinate transformation is used to convert the juggling problem to that of stabilization of one of the fixed points. Inclusion of the coordinate transformation in the dynamic model results in a nonlinear discrete-time system. A dead-beat design for one of the inputs simplifies the control problem and results in a linear time-invariant discrete-time system. Standard control techniques are used to show that symmetric juggling can be achieved from arbitrary initial conditions.