Abstract:
In this paper, a special type of underactuated robotic manipulator-tight rope balancing robotis-is analyzed, and the unique properties of this type of systems are reveale...Show MoreMetadata
Abstract:
In this paper, a special type of underactuated robotic manipulator-tight rope balancing robotis-is analyzed, and the unique properties of this type of systems are revealed. The tight rope balancing robot is a two-link underactuated robot, which is a highly simplified model similar to a person balancing on a tight rope. In this work, control schemes are addressed from the views of both linear and nonlinear control theories. Simulations showing the motions of the robot using the control method developed in this paper are presented. These simulations verify the effectiveness of the control scheme.
Date of Conference: 08-08 October 2003
Date Added to IEEE Xplore: 08 January 2004
Print ISBN:0-7803-7891-1
Print ISSN: 2158-9860
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Tight Rope ,
- Balancing Robot ,
- Control Strategy ,
- Types Of Systems ,
- Nonlinear Control ,
- Linear Control ,
- Tight Balance ,
- Actuator ,
- Optimal Control ,
- Linear System ,
- Nonlinear Systems ,
- Use Of Control ,
- Original System ,
- Equilibrium Point ,
- Robotic System ,
- Centrifugal Force ,
- Joint Angles ,
- Proportional-integral-derivative ,
- Linker Length ,
- State Feedback ,
- Joint Axis ,
- Underactuated Systems ,
- Region Of Attraction ,
- Phase Portrait ,
- Linear Law ,
- Equivalent Input ,
- Linearizable
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Tight Rope ,
- Balancing Robot ,
- Control Strategy ,
- Types Of Systems ,
- Nonlinear Control ,
- Linear Control ,
- Tight Balance ,
- Actuator ,
- Optimal Control ,
- Linear System ,
- Nonlinear Systems ,
- Use Of Control ,
- Original System ,
- Equilibrium Point ,
- Robotic System ,
- Centrifugal Force ,
- Joint Angles ,
- Proportional-integral-derivative ,
- Linker Length ,
- State Feedback ,
- Joint Axis ,
- Underactuated Systems ,
- Region Of Attraction ,
- Phase Portrait ,
- Linear Law ,
- Equivalent Input ,
- Linearizable