Control of the tight rope balancing robot

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.