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Cannonical Form of Acrobat Robot and Its Control of Swing-up  

남택근 (한국전기연구원 기계제어응용그룹)
소명옥 (한국해양대학교 기관시스템공학부)
박진길 (한국해양대학교 기관시스템공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.26, no.4, 2002 , pp. 432-438 More about this Journal
Abstract
In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm
Keywords
Acrobat Robot; Underactuated Mechanism; Canonical Form; Swing-up;
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