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Preliminary experiments in spatial robot juggling

  • Section 5: Manipulation Planning And Control
  • Conference paper
  • First Online:
Experimental Robotics II

Part of the book series: Lecture Notes in Control and Information Sciences ((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.

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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Authors and Affiliations

  1. Center for Systems Science, Yale University, 06520-1968, New Haven, CT

    A. A. Rizzi & D. E. Koditschek

Authors
  1. A. A. Rizzi
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  2. D. E. Koditschek
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Editor information

Raja Chatila Gerd Hirzinger

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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

  • eBook Packages: Springer Book Archive

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