Optimal cyclic vertical juggling using 1-DoF arm

Manipulation by juggling of an object by a 1-DoF prismatic arm is studied. The manipulation task is decomposed into two phases: accelerating phase and decelerating phases. The manipulation task is modeled as an optimization problem in order to get maximum flight while having minimum impact at catch time. The optimization problem is solved using sequential quadratic programming method and the results are verified by simulations in ADAMS.