Stable limit set behavior in a dynamic parts feeder

Kevin M Lynch, Michael Northrop, Peng Pan

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


We describe a one-joint planar arm which repeatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw velocity and arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial configurations. The resulting system resembles an open-loop stable juggler of polygonal parts.

Original languageEnglish (US)
Pages (from-to)1129-1134
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
StatePublished - Jan 1 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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