用垂直于木棍的力实现魔杖螺旋旋转，无需抓握。
Propeller Motion of a Devil-Stick using Normal Forcing
- 通过控制法向力和作用点，设计中心质心轨迹。
- 间歇性大振幅力可渐近稳定螺旋运动。
- 适合研究非预握操控与欠驱动系统控制。
本文研究在竖直平面内仅使用垂直于魔杖的力实现其螺旋旋转的问题。该任务属于欠驱动系统的非预握操纵。与以往方法不同，本研究通过控制法向力及其作用点来操纵魔杖。利用虚拟齐次约束，以魔杖姿态角为变量设计其质心轨迹，并推导出稳定螺旋运动的条件。采用间歇性大振幅力实现期望螺旋运动的渐近稳定。仿真结果表明，该方法可在不发生执行器与魔杖脱离接触的情况下实现稳定的螺旋运动。
原文摘要 · Abstract (English)
The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated system. In contrast with previous approaches, the devil-stick is manipulated by controlling the normal force and its point of application. Virtual holonomic constraints are used to design the trajectory of the center-of-mass of the devil-stick in terms of its orientation angle, and conditions for stable propeller motion are derived. Intermittent large-amplitude forces are used to asymptotically stabilize a desired propeller motion. Simulations demonstrate the efficacy of the approach in realizing stable propeller motion without loss of contact between the actuator and devil-stick.
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