Juggler System: Hybrid Model and Implementation

Several juggling systems have been developed in order to control the dynamics of a bouncing element. This system is useful to show the behavior of elements due to impacts, as well as to have control of the trajectory followed by them based on physical principles. In this article, the description of the physical implementation of a juggler system is presented, including its movement control to achieve a specific objective. A hybrid model to analyze and predict the behavior of both the platform and the ball is studied and implemented. Finally, a multi-agent implementation is proposed to synchronize its movements and show how a group of oscillating systems are able to reach a common work point.