Open AccessModelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
Author(s) -
Israel Soto,
Ricardo Campa
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60027
Subject(s) - inverted pendulum , control theory (sociology) , mechanism (biology) , kinematics , computer science , nonlinear system , double inverted pendulum , bar (unit) , controller (irrigation) , four bar linkage , actuator , planar , pendulum , degrees of freedom (physics and chemistry) , set (abstract data type) , simple (philosophy) , base (topology) , physics , classical mechanics , control (management) , mathematics , motion (physics) , mathematical analysis , artificial intelligence , computer graphics (images) , quantum mechanics , meteorology , agronomy , biology , programming language , philosophy , epistemology
This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism, better known as a five-bar mechanism. The whole mechanism has four degrees of freedom, but it has only two actuators and so it is an under-actuated system. The nonlinear dynamics model of the complete system is first obtained using a non-minimal set of generalized coordinates, and then a reduced equivalent model is computed. To validate this approach, the reduced model is linearized and simulations are carried out, showing the stabilization of the system with a simple LQR controller. Experimental results on an academic prototype are also presented
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