Additional Content for the Swinging Blind Juggler

Here you can find the Mathematica Notebook that derives the nonlinear dynamics of the Swinging Blind Juggler. If you are interested in how we computed the paddle motions have a look at the Matlab script.

We used the Sparse Nonlinear Optimizer SNOPT to solve the optimal control problem. If you do not have a SNOPT license you may find a student version here.

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