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On the controllability of linear juggling mechanical systems

Abstract : This paper deals with the controllability of a class of nonsmooth complementa- rity 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, but extensions towards more complicated models are considered.
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Reports (Research report)
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Submitted on : Tuesday, May 23, 2006 - 6:52:06 PM
Last modification on : Wednesday, October 26, 2022 - 8:16:09 AM
Long-term archiving on: : Sunday, April 4, 2010 - 10:39:20 PM


  • HAL Id : inria-00071814, version 1


Bernard Brogliato, Mongi Mabrouk, Arturo Zavala-Rio. On the controllability of linear juggling mechanical systems. [Research Report] RR-4772, INRIA. 2003. ⟨inria-00071814⟩



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