DocumentCode
2421115
Title
Control of the tight rope balancing robot
Author
Hou, Yongjun ; Luecke, Greg R.
Author_Institution
Dept. of Mech. Eng., Iowa State Univ., Ames, IA, USA
fYear
2003
fDate
8-8 Oct. 2003
Firstpage
896
Lastpage
901
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.
Keywords
linear systems; manipulators; mobile robots; motion control; nonlinear control systems; linear control theory; mobile robots; nonlinear control theory; robot motions; tight rope balancing robot; tight rope walker; two link underactuated robot; underactuated robotic manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control. 2003 IEEE International Symposium on
Conference_Location
Houston, TX, USA
ISSN
2158-9860
Print_ISBN
0-7803-7891-1
Type
conf
DOI
10.1109/ISIC.2003.1254755
Filename
1254755
Link To Document