Robot Juggles 5 Balls

The fiveball juggling operation is the most difficult to control, because all five axis must be controlled synchronously and the throwing up the third, fourth and fifth ball require split the juggling kinematics description in more parts. All the parts must be carried out in the right order and in the right time instant. Electronic cams are used to plan and synchronise the motion trajectories. The video also shows the capability of the juggler to sense absence of the ball by measuring the torque of the motor which the ball holder is mounted to. The ball is dropped intentionally and then thrown up again. More information at: dce.fel.cvut.cz