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Singularity-avoiding swing-up control for underactuated three-link gymnast robot using virtual coupling between control torques.
- Source :
-
International Journal of Robust & Nonlinear Control . Jan2015, Vol. 25 Issue 2, p207-221. 15p. - Publication Year :
- 2015
-
Abstract
- SUMMARY An underactuated three-link gymnast robot (UTGR) is a simple model of a gymnast on a high bar. The control objective of a UTGR is to swing it up from a point near the straight-down position and to stabilize it at the straight-up position. To achieve this, we first divide the motion space into two subspaces, swing-up area and balancing area, and design a controller for each. The design of a swing-up control law that ensures that the UTGR enters the balancing area is crucial because the UTGR is subject to a nonholonomic constraint and is highly nonlinear during the swing-up motion. This study focused on how to design a swing-up control law that contains no singularities. The key concept is the introduction of a virtual coupling between control torques, which converts the problem of avoiding singularities to one of imposing constraints on the parameters of the control law and properly selecting those parameters. A swing-up control law thus designed ensures that the UTGR enters the balancing area in a natural stretched-out posture. This makes it easy to stabilize the UTGR in the balancing area. Copyright © 2013 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]
- Subjects :
- *ROBOTS
*GYMNASTS
*TORQUES (Jewelry)
*MOTION
*MATHEMATICAL singularities
Subjects
Details
- Language :
- English
- ISSN :
- 10498923
- Volume :
- 25
- Issue :
- 2
- Database :
- Academic Search Index
- Journal :
- International Journal of Robust & Nonlinear Control
- Publication Type :
- Academic Journal
- Accession number :
- 99973884
- Full Text :
- https://doi.org/10.1002/rnc.3082