论文标题
使用冲动力对棍子进行非忧虑操纵
Nonprehensile Manipulation of a Stick Using Impulsive Forces
论文作者
论文摘要
考虑了使用间歇性冲动力在三维空间中对棍子进行非骚扰操作的问题。目的是在一系列旋转对称的垂直轴对称的配置序列之间兼顾棍子。棒的动力学由五个广义坐标和三个对照输入描述。在应用冲动输入的两种连续配置之间，动力学在Juggler的参考框架中以Poincaré地图为方便地表示。通过稳定庞加莱地图上的固定点来实现与所需杂耍运动相关的轨道的稳定。脉冲控制的庞加莱地图方法用于稳定轨道，数值模拟用于证明与任意初始配置中所需的杂耍运动的收敛。在限制情况下，在任意选择连续旋转对称配置的情况下，这表明动力学将减少到箍上杆稳定进动的动力学。
The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a sequence of configurations that are rotationally symmetric about the vertical axis. The dynamics of the stick is described by five generalized coordinates and three control inputs. Between two consecutive configurations where impulsive inputs are applied, the dynamics is conveniently represented by a Poincaré map in the reference frame of the juggler. Stabilization of the orbit associated with a desired juggling motion is accomplished by stabilizing a fixed point on the Poincaré map. The Impulse Controlled Poincaré Map approach is used to stabilize the orbit, and numerical simulations are used to demonstrate convergence to the desired juggling motion from an arbitrary initial configuration. In the limiting case, where consecutive rotationally symmetric configurations are chosen arbitrarily close, it is shown that the dynamics reduces to that of steady precession of the stick on a hoop.
