DocumentCode
433895
Title
Swing-up control of an Acrobot having a limited range of joint angle of two links
Author
Henmi, Tomohiro ; Wada, Takahiko ; Deng, Mingcong ; Inoue, Akira ; Ueki, Nobuyuki ; Hirashima, Yoichi
Author_Institution
Okayama Univ., Japan
Volume
2
fYear
2004
fDate
20-23 July 2004
Firstpage
1071
Abstract
In this paper, a nonlinear control scheme to swing up an Acrobot (acrobat robot) is proposed. The scheme is based on an idea to model a horizontal bar gymnast by the robot. The difference between the robot and the model of a human body is in the second link of the robot which rotates 360/spl deg/, whereas the lower half of human body does not rotate 360/spl deg/. To make the robot more humanlike mechanics, rotation of the second link angle of the robot is constrained mechanically. By using this robot, a control scheme to perform a swing-up motion of the Acrobot is proposed. A numerical simulation shows the effectiveness of the proposed scheme in this paper.
Keywords
humanoid robots; motion control; nonlinear control systems; Acrobot; horizontal bar gymnast model; nonlinear control scheme; swing-up control; Actuators; Biological system modeling; Control systems; Humans; Joints; Linear feedback control systems; Mobile robots; Motion analysis; Motion control; Orbital robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2004. 5th Asian
Conference_Location
Melbourne, Victoria, Australia
Print_ISBN
0-7803-8873-9
Type
conf
Filename
1426791
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