Global Asymptotic Stability of a Passive Juggler: A Parts Feeding Strategy - Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
نویسندگان
چکیده
In this paper we demonstrate that a passive vibration strategy can bring a 1 degree of freedom ball to a known trajectory from all possible initial configurations. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analytical results to the parts feeding problem.
منابع مشابه
Global Asymptotic Stability of Passive Juggler: A Parts Feeding Strategy
In this paper we demonstrate that a passive vibration strategy can bring a 1 degree of freedom ball to a known trajectory from all possible initial configurations. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analytical results to the parts feeding problem. Comments Copyright 1995 IEEE. Reprinted from ...
متن کاملGlobal asymptotic stability of a passive juggler: a parts feeding strategy
In this paper we demonstrate that a passive vibration strategy can bring a 1 degree of freedom ball to a known trajectory from all possible initial configurations. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analytical results to the parts feeding problem. Comments Copyright 1995 IEEE. Reprinted from ...
متن کاملControl of Forward Velocity for a Simplyfied Planar Hopping Robot
A simplified lossless model of the Raibert planar hopper is introduced for the purpose of analytically studying the control of forward velocity. A closed-form return map describing the robot's state at the next hop as a function of that at the current hop is derived. The Raibert forward velocity controller is introduced and the fixed points of the closed loop system are characterized as well as...
متن کاملMeasurement and correction of systematic odometry errors in mobile robots
Odometry is the most widely used method for determining the momentary position of a mobile robot. In most practical applications odometry provides easily accessible real-time positioning information in-between periodic absolute position measurements. The frequency at which the (usually costly and/or time-consuming) absolute measurements must be performed depends to a large degree on the accurac...
متن کاملControl of forward velocity for a simplified planar hopping robot
A simplified lossless model of the Raibert planar hopper is introduced for the purpose of analytically studying the control of forward velocity. A closed-form return map describing the robot's state at the next hop as a function of that at the current hop is derived. The Raibert forward velocity controller is introduced and the fixed points of the closed loop system are characterized as well as...
متن کامل