3D motion control of 2 links (5 D.O.F.) underactuated manipulator named AcroBOX

We introduce a laboratory system for control researches named AcroBOX which is a 2 links underactuated manipulator of 5 D.O.F with constraints on ground, and it is a typical mechanical hybrid system whose dynamics changes according to its posture against the ground. In this paper, we consider a method to control it to upright position in 3-dimensional space. To stabilize the underactuated manipulator in 3-dimensional space, we propose a controller which is based on the idea of output zeroing controller for a similar system in a 2-dimensional space. The validity of the controller is shown by a numerical simulation. Possible applications of this work would be such as the stabilization of automatic motor bike on a tire, the stabilization of a walking robot standing on only one leg whose posture is 3-dimensionally twisted, and so on.