Title :
An autonomous self-rising pendulum
Author_Institution :
Dept. of Electr. Eng. & Inf. Technol., Ruhr-Univ. Bochum, Bochum, Germany
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine´s principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.
Keywords :
intelligent robots; mechatronics; nonlinear control systems; pendulums; stability; autonomous self-rising pendulum; control system; energy-based rising; energy-based stabilisation; gyration; intelligent machine; machine operation principle; mechatronic components; pendulum environment; robotic tasks; subtasks; Automata; Friction; Power supplies; Steel; Switches; Torque; Pendulum; education; laboratory experiment;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
