Abstract
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.
Recommended Citation
A. Khandelwal et al., "Nonprehensile Manipulation of a Stick using Impulsive Forces," Nonlinear Dynamics, vol. 111, no. 1, pp. 113 - 127, Springer, Jan 2023.
The definitive version is available at https://doi.org/10.1007/s11071-022-07826-4
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Impulsive force; Juggling; Nonprehensile manipulation; Orbital stabilization; Poincaré map
International Standard Serial Number (ISSN)
1573-269X; 0924-090X
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Springer, All rights reserved.
Publication Date
01 Jan 2023
Comments
Center for Hierarchical Manufacturing, National Science Foundation, Grant CMMI-2043464