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On the controllability of linear juggling mechanical systems

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.
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Contributor : Mathias Legrand <>
Submitted on : Wednesday, October 2, 2019 - 5:31:24 PM
Last modification on : Friday, April 2, 2021 - 3:35:58 AM

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



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