Optimal cyclic vertical juggling using 1-DoF arm

Authors:
Adel Akbarimajd
Affiliations:
Department of engineering, University of Mohaghegh Ardabili, Ardabil, Iran
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

Manipulation by juggling of an object by a 1-DoF prismatic arm is studied. The manipulation task is decomposed into two phases: accelerating phase and decelerating phas. The manipulation task is modeled as an optimization problem in order to get maximum flight while having minimum impact at catch time. The optimization problem is solved using sequential quadratic programming method and the results are verified by simulations in ADAMS.