Progress in spatial robot juggling

The authors review their progress to date in eliciting dynamically dexterous behaviors from a 3-d.o.f. direct drive robot manipulator whose real-time stereo cameras provide 60 Hz sampled images of multiple freely falling bodies in highly structured lighting conditions. At present, the robot is capable of forcing a single ping-pong ball into a specified steady-state (near) periodic vertical motion by repeated controlled impacts with a rigid paddle. The robot sustains the steady-state behavior over long periods (typically many thousands of impacts) and is capable of recovering from significant unexpected adversarial perturbations of the ball's flight phase. Gain tuning experiments corroborate the authors' contention that the stability mechanism underlying the robot's reliability can be attributed to the same nonlinear dynamics responsible for analogous behavior in a previous 1-d.o.f. robot.<<ETX>>

[1]  A. Bejczy.  Robot arm dynamics and control , 1974 .

[2]  Daniel E. Koditschek,et al.  A new distributed real-time controller for robotics applications , 1989, Digest of Papers. COMPCON Spring 89. Thirty-Fourth IEEE Computer Society International Conference: Intellectual Leverage.

[3]  Daniel E. Koditschek,et al.  From stable to chaotic juggling: theory, simulation, and experiments , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[4]  Daniel E. Koditschek,et al.  A Simple Juggling Robot: Theory and Experimentation , 1989, ISER.

[5]  Camillo J. Taylor,et al.  The Cyclops vision system , 1990 .

[6]  Daniel E. Koditschek,et al.  Planning and control of robotic juggling tasks , 1991 .

[7]  Russell L. Anderson,et al.  A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control , 1988 .

[8]  Daniel E. Koditschek,et al.  Robot control in a message passing environment: theoretical questions and preliminary experiments , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[9]  Daniel E. Koditschek,et al.  Preliminary Experiments in Spatial Robot Juggling , 1991, ISER.

[10]  J. Synge,et al.  Principles of Mechanics , 1963 .

[11]  Daniel E. Koditschek,et al.  Distributed real-time control of a spatial robot juggler , 1992, Computer.

[12]  P. Holmes,et al.  Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields , 1983, Applied Mathematical Sciences.

[13]  P. Holmes,et al.  Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields , 1983, Applied Mathematical Sciences.

[14]  Daniel E. Koditschek,et al.  A family of robot control strategies for intermittent dynamical environments , 1990 .

[15]  Daniel E. Koditschek,et al.  Analysis of a Simplified Hopping Robot , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[16]  Daniel E. Koditschek,et al.  Comparative experiments with a new adaptive controller for robot arms , 1991, IEEE Trans. Robotics Autom..