2kπ, the juggling robot

被引：0
|
作者：
Lenoir, Yves [1 ]
Martin, Philippe [1 ]
Rouchon, Pierre [1 ]
机构：
[1] Ecole des Mines de Paris, Fontainebleau, France
来源：
Proceedings of the IEEE Conference on Decision and Control | 1998年 / 2卷
关键词：
Control system synthesis - Degrees of freedom (mechanics) - Equations of motion - Feedback control - Manipulators - Pendulums - Robotics - System stability;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
2kπ is a juggling robot consisting of a manipulator carrying a pendulum, with five degrees of freedom (dof's). The 3 dof's of the manipulator are actuated by electric drives, while the 2 dof's of the pendulum are not actuated. A control law steering the pendulum from the lower equilibrium to the upper equilibrium was designed to stabilize the pendulum while the manipulator is moving around.
引用
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页码：1995 / 2000
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