Mathematical Problems in Engineering
Volume 1 (1995), Issue 3, Pages 193-224

Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method

P. J. Swanson, R. R. Burridge, and D. E. Koditschek

Artificial Intelligence Laboratory, EECS Department, College of Engineering, University of Michigan, Ann Arbor 48105-2110, MI, USA

Copyright © 1995 P. J. Swanson et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.