Enduring Rotary Motion Experiment of Devil Stick by General-Purpose Manipulator
Devil stick is a type of juggling which uses two sticks, one held by juggler and one to be manipulated. Many varieties of tricks of devil stick have been performed. In this paper, one of the tricks called “propeller” is specifically examined. Previously, the motion of propeller was analysed theoretically, and a controller for stable propeller motion by output zeroing control was proposed, and the validity of the controller was confirmed by numerical simulations. In the analysis of propeller motion, several conditions were assumed for simplifying the control problem. The controller was implemented to a general-purpose manipulator, and several experiments were carried out. However, those experiments could not successfully verify the propeller motion because the assumptions used in theoretical analysis were unfeasible. To correct this problem, an additional compensator is proposed, and the validity of the compensator is confirmed by numerical simulations and experiments. Finally, the enduring rotary motion of 37 rotations was achieved by an experiment.
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