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Preliminary experiments in spatial robot juggling

Section 5: Manipulation Planning And Control

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS,volume 190)

Abstract

In a continuing program of research in robotic control of intermittent dynamical tasks, we have constructed a three degree of freedom robot capable of “juggling” a ball falling freely in the earth's gravitational field. This work is a direct extension of that previously reported in [7, 3, 5, 4]. The present paper offers a comprehensive description of the new experimental apparatus and a brief account of the more general kinematic, dynamical, and computational understanding of the previous work that underlie the operation of this new machine.

Keywords

  • Inverse Kinematic
  • Free Flight
  • Flight Model
  • Local Asymptotic Stability
  • Environmental Control System

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

This work has been supported in part by the Superior Electric Corporation, SGS Thomson-INMOS Corporation and the National Science Foundation under a Presidential Young Investigator Award held by the second author.

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© 1993 Springer-Verlag London Limited

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Rizzi, A.A., Koditschek, D.E. (1993). Preliminary experiments in spatial robot juggling. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036146

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  • DOI: https://doi.org/10.1007/BFb0036146

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

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