Nonprehensile manipulation of a stick using impulsive forces

The problem of nonprehensile manipulation a stick in three-dimensional space using intermittent impulsive forces is considered. objective to juggle the between sequence configurations that are rotationally symmetric about vertical axis. dynamics described by five generalized coordinates and three control inputs. Between two consecutive where inputs applied, conveniently represented Poincaré map reference frame juggler. Stabilization orbit associated with desired juggling motion accomplished stabilizing fixed point on map. Impulse Controlled Map approach used stabilize orbit, numerical simulations demonstrate convergence from an arbitrary initial configuration. In limiting case, chosen arbitrarily close, it shown reduces steady precession hoop.