Title :
2kπ, the juggling robot
Author :
Lenoir, Yves ; Martin, Philippe ; Rouchon, Pierre
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
Abstract :
2kπ is an experimental robot consisting of a manipulator carrying a pendulum. It has 5 DOF; 3 angles for the manipulator and 2 angles for the pendulum. The manipulator DOF are actuated by electric drives, while the pendulum DOF are not actuated. The goal is to design a control law steering the pendulum from the lower equilibrium to the upper equilibrium, and more generally able to stabilize the pendulum while the manipulator is moving around. This system is typical of underactuated, nonlinear and unstable mechanical systems. The paper presents a planification of open-loop trajectories steering the pendulum from the lower to the upper equilibrium and the design of a tracking controller, each time exploiting the flatness property. The control is implemented in real-time
Keywords :
control system synthesis; manipulators; nonlinear systems; pendulums; stability; 2kπ; 5-DOF system; control law design; electric drives; flatness; inverted pendulum; juggling robot; manipulator; open-loop trajectory planification; real-time implementation; stability; tracking controller; underactuated nonlinear unstable mechanical systems; Acceleration; Computational geometry; Gravity; Manipulators; Open loop systems; Physics computing; Robot kinematics; Robust control; Solid modeling; Virtual colonoscopy;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758619
