On the controllability of linear juggling mechanical systems

摘要

This paper deals with the controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an '' object '' and a '' robot '', consequently they are named juggling systems. It is shown that the accessibility of the '' object '' can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented, including a simple model of backlash. The main focus of the work is about linear jugglers. (c) 2005 Elsevier B.V. All rights reserved.