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In this paper we demonstrate that a passive vibration strategy can bring a one-degree-of-freedom ball to a specified periodic trajectory from all initial conditions. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analysis to the parts feeding problem.
factory automation, robotics, chaotic dynamics, parts feeding, parts feeders, vibration
Swanson, P. J.; Burridge, Robert R.; and Koditschek, Daniel E., "Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method" (1995). Departmental Papers (ESE). Paper 349.
Date Posted: 10 April 2008
This document has been peer reviewed.