DocumentCode
2065256
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
fYear
2001
fDate
2001
Firstpage
1095
Lastpage
1098
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/CCA.2001.974017
Filename
974017
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