Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
The paper presents a model-based framework for controlling a 7-DoF robot to perform non-prehensile ball juggling using a tool. It uses a two-stage optimal control approach: one stage generates desired tool trajectories in task space, and the second maps these to feasible joint space motions. This offline computation allows for real-time error correction during juggling.