Mathematical Analysis and Motion Control for Horizontal Bar Gymnastic Robot.
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- Kajiwara Hidekazu
- Kushiro National College of Technology
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- Hashimoto Yukio
- Muroran Institute of Technology
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- Matsuda Toshihiko
- Muroran Institute of Technology
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- Tsuchiya Takeshi
- Graduate School of Engineering, Hokkaido University
Bibliographic Information
- Other Title
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- 鉄棒ロボットの数理解析と運動制御
- テツボウ ロボット ノ スウリ カイセキ ト ウンドウ セイギョ
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Abstract
This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link ‘in phase’ with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol's equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 18 (4), 515-520, 2000
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679703819520
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- NII Article ID
- 10004733714
- 10021141967
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- HANDLE
- 10258/00008867
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- NDL BIB ID
- 5334445
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- Text Lang
- ja
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- Data Source
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed