Mechanical Design and Control of the Pendubot University of Illinois

Format:

Conference/Event

Author/Creator:

Block, Daniel J., author.

Conference Name:

Earthmoving Industry Conference & Exposition (1995-08-08 : Peoria, Illinois, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 1995

Summary:

In this paper we demonstrate our work to date on our underactuated two link robot called the Pendubot. First we will overview the Pendubot's design, discussing the components of the linkage and the interface to the PC making up the controller. Parameter identification of the Pendubot is accomplished both by solid modeling methods and energy equation least squares techniques. With the identified parameters, mathematical models are developed to facilitate controller design. The goal of the control is to swing the Pendubot up and balance it about various equilibrium configurations. Two control algorithms are used for this task. Partial feedback linearization techniques are used to design the swing up control. The balancing control is then designed by linearizing the dynamic equations about the desired equilibrium point and using LQR or pole placement techniques to design a stabilizing controller

Notes:

Vendor supplied data

Publisher Number:

951199

Access Restriction:

Restricted for use by site license