DocumentCode
357348
Title
On global properties of passivity based control for swinging Pendubot
Author
Kolesnichenko, O. ; Shiriaev, A.
Author_Institution
Dept. of Math. & Mech., St. Petersburg State Univ., Russia
Volume
1
fYear
2000
fDate
2000
Firstpage
33
Abstract
Consider a two-link robot with an actuator at the shoulder (link 1) and no actuator at the elbow. It called the Pendubot. It is shown that depending on the parameter of the controller the number of connected components could be equal an arbitrary positive constant. We show how to minimize them to 2 components, one of which is the desired attractive set V0 and another is an equilibrium being outside of the set V0
Keywords
closed loop systems; feedback; robot kinematics; arbitrary positive constant; connected components; global properties; passivity based control; swinging Pendubot; two-link robot; Actuators; Closed loop systems; Control systems; Elbow; Equations; Mathematics; Production; Robots; Switches;
fLanguage
English
Publisher
ieee
Conference_Titel
Control of Oscillations and Chaos, 2000. Proceedings. 2000 2nd International Conference
Conference_Location
St. Petersburg
Print_ISBN
0-7803-6434-1
Type
conf
DOI
10.1109/COC.2000.873502
Filename
873502
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