On the controllability of linear juggling mechanical systems - Archive ouverte HAL Access content directly
Journal Articles Systems and Control Letters Year : 2006

On the controllability of linear juggling mechanical systems

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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. It is shown that the accessibility of the “object” can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented, including a simple model of backlash. The main focus of the work is about linear jugglers.

Dates and versions

hal-02303983 , version 1 (02-10-2019)

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Bernard Brogliato, Mongi Mabrouk, Arturo Zavala-Rio. On the controllability of linear juggling mechanical systems. Systems and Control Letters, 2006, ⟨10.1016/j.sysconle.2005.08.012⟩. ⟨hal-02303983⟩
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