ロボットによる振り子の振り上げ制御（数値シミュレーションによる軌道計画と実験）

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タイトル別名
  • Swing-up control of a pendulum by a one-link robot. Trajectory planning by numerical simulation and experiment.
  • ロボット ニ ヨル フリコ ノ フリアゲ セイギョ スウチ シミュレーション

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説明

In this paper, the swing-up control method of a pendulum by a horizontal one-link robot is presented, and the experimental results are demonstrated. In the design of the control systom, first, the equations of motion of the mechanical system consisting of the robot and the pendulum are derived. Second, the trajectory planning for the swing-up control of the pendulum is investigated by the numerical simulation about the pendulum. In this trajectory planning, the sinus control command of the joint angle is used. Then, the feedforward control voltage of the servomotor are obtained by applying inverse dynamics to the equation of motion with respect to the robot. Furthermore, it is demonstrated by the experimental results that the pendulum can be swung up by adjusting the amplitudes of the sinus control command of the joint angle that is obtained in trajectory planning.

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