DocumentCode
2810317
Title
The Pendubot: a mechatronic system for control research and education
Author
Spong, Mark W. ; Block, Daniel J.
Author_Institution
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Volume
1
fYear
1995
fDate
13-15 Dec 1995
Firstpage
555
Abstract
In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two-link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system, a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The Pendubot complements previous mechatronic systems, such as the Acrobot and the inverted pendulum of Furuta
Keywords
control engineering education; control theory; educational aids; mechatronics; nonlinear control systems; robot dynamics; Pendubot; actuator; control engineering education; control research; mechatronic system; nonlinear control; nonlinear dynamics; two-link planar robot; Actuators; Control engineering education; Control systems; Mechatronics; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Robot kinematics; Shafts; Systems engineering education;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.478951
Filename
478951
Link To Document