Contact Juggling of a Disk With a Disk-Shaped Manipulator

In this paper, we present a feedback controller that enables contact juggling manipulation of a disk with a disk-shaped manipulator, called the mobile disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravi...

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Main Authors:	Ji-Chul Ryu, Kevin M. Lynch
Format:	Article
Language:	English
Published:	IEEE 2018-01-01
Series:	IEEE Access
Subjects:	Dynamic feedback linearization nonprehensile manipulation rolling manipulation contact juggling
Online Access:	https://ieeexplore.ieee.org/document/8490654/

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spelling	doaj-5d6b7ea55c49421cae9a5f6bc13cb0922021-03-29T21:32:21ZengIEEEIEEE Access2169-35362018-01-016602866029310.1109/ACCESS.2018.28754108490654Contact Juggling of a Disk With a Disk-Shaped ManipulatorJi-Chul Ryu0https://orcid.org/0000-0002-9499-2068Kevin M. Lynch1Mechanical Engineering Department, Northern Illinois University, DeKalb, IL, USANeuroscience and Robotics Laboratory and Mechanical Engineering Department, Northwestern University, Evanston, IL, USAIn this paper, we present a feedback controller that enables contact juggling manipulation of a disk with a disk-shaped manipulator, called the mobile disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravity. The hand moves with a full three degrees of freedom in a vertical plane. The proposed controller drives the object to follow a desired trajectory through rolling interaction with the hand. Based on the mathematical model of the system, dynamic feedback linearization is used in the design of the controller. The performance of the controller is demonstrated through simulations considering disturbances and uncertainties.https://ieeexplore.ieee.org/document/8490654/Dynamic feedback linearizationnonprehensile manipulationrolling manipulationcontact juggling
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Ji-Chul Ryu Kevin M. Lynch
spellingShingle	Ji-Chul Ryu Kevin M. Lynch Contact Juggling of a Disk With a Disk-Shaped Manipulator IEEE Access Dynamic feedback linearization nonprehensile manipulation rolling manipulation contact juggling
author_facet	Ji-Chul Ryu Kevin M. Lynch
author_sort	Ji-Chul Ryu
title	Contact Juggling of a Disk With a Disk-Shaped Manipulator
title_short	Contact Juggling of a Disk With a Disk-Shaped Manipulator
title_full	Contact Juggling of a Disk With a Disk-Shaped Manipulator
title_fullStr	Contact Juggling of a Disk With a Disk-Shaped Manipulator
title_full_unstemmed	Contact Juggling of a Disk With a Disk-Shaped Manipulator
title_sort	contact juggling of a disk with a disk-shaped manipulator
publisher	IEEE
series	IEEE Access
issn	2169-3536
publishDate	2018-01-01
description	In this paper, we present a feedback controller that enables contact juggling manipulation of a disk with a disk-shaped manipulator, called the mobile disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravity. The hand moves with a full three degrees of freedom in a vertical plane. The proposed controller drives the object to follow a desired trajectory through rolling interaction with the hand. Based on the mathematical model of the system, dynamic feedback linearization is used in the design of the controller. The performance of the controller is demonstrated through simulations considering disturbances and uncertainties.
topic	Dynamic feedback linearization nonprehensile manipulation rolling manipulation contact juggling
url	https://ieeexplore.ieee.org/document/8490654/
work_keys_str_mv	AT jichulryu contactjugglingofadiskwithadiskshapedmanipulator AT kevinmlynch contactjugglingofadiskwithadiskshapedmanipulator
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Contact Juggling of a Disk With a Disk-Shaped Manipulator

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