Global Asymptotic Stability of Passive Juggler: A Parts Feeding Strategy

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. Comments Copyright 1995 IEEE. Reprinted from Proceedings of the IEEE Conference on Robotics and Automation, 1995., Volume 2, pages 1983-1988. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. 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. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/410 Global Asymptotic Stability of a Passive Juggler: A Parts Feeding Strategy P. J. Swanson, R. R. Burridge, and D. E. Koditschek * Artificial Intelligence Laboratory EECS Department, College of Engineering University of Michigan, Ann Arbor