Title :
A controllability criterion for linear juggling mechanical systems
Author :
Brogliato, Bernard ; Mabrouk, Mongi ; Rio, Arturo Zavala
Author_Institution :
Lab. d´´Automatique de Grenoble, CNRS, Saint Martin d´´Heres, France
Abstract :
This paper deals with the controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an "object" and a "robot", consequently they are named juggling systems. Focusing on linear jugglers, it is shown that the controllability of the "object" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented
Keywords :
controllability; linear systems; manipulator dynamics; complementarity dynamics; controllability; impacts; juggling mechanical systems; nonsmooth mechanics; unilateral constraints; Controllability; Gravity; Kinetic theory; Manipulator dynamics; Mechanical systems; Nonlinear dynamical systems; Nonlinear equations; Robots; Testing;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.974017
