Global asymptotic stability of a passive juggler: a parts feeding strategy

P. J. Swanson, University of Michigan
Robert R. Burridge, University of Michigan
Daniel E. Koditschek, University of Pennsylvania

Article comments

Copyright 1995 IEEE. Reprinted from Proceedings of the IEEE Conference on Robotics and Automation, 1995., Volume 2, pages 1983-1988.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

Abstract

In this paper we demonstrate that a passive vibration strategy can bring a 1 degree of freedom ball to a known trajectory from all possible initial configurations. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analytical results to the parts feeding problem.