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Design and Analysis of Swing-up Control for a 3-Link Gymnastic Robot with Passive First Joint
| Content Provider | CiteSeerX |
|---|---|
| Author | Xin, Xin Kaneda, Masahiro |
| Abstract | Abstract — This paper concerns a swing-up control problem for a 3-link gymnastic planar robot in a vertical plane, whose first joint is passive (unactuated) and the rest are active (actuated). The objectives of this paper are: 1) to design a controller under which the robot can be brought into any arbitrarily small neighborhood of the upright equilibrium point, where all three links of the robot remain in their upright positions; 2) to attain a global analysis of the motion of the robot under the controller. To tailor the energy based control approach to achieve the above objectives, first, this paper considers the links 2 and 3 as a virtually composite link and proposes a coordinate transformation of the angles of active joints. Second, this paper constructs a novel Lyapunov function based on the transformation, and devises an energy based swing-up controller. This paper presents a necessary and sufficient condition for nonexistence of any singular points in the controller for the robot starting from any initial state. Third, this paper carries out a global analysis of the motion of the robot under the controller, and establishes some conditions on control parameters for achieving the swing-up control objective. To validate the theoretical results obtained, this paper provides simulation results for a 3-link robot whose mechanical parameters are obtained from a human gymnast. I. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Passive First Joint 3-link Gymnastic Robot Swing-up Control Global Analysis Novel Lyapunov Function Control Approach Coordinate Transformation Sufficient Condition Mechanical Parameter Human Gymnast Vertical Plane 3-link Gymnastic Planar Robot First Joint Singular Point Upright Equilibrium Point Initial State Swing-up Controller Upright Position Swing-up Control Problem Swing-up Control Objective Control Parameter Small Neighborhood Simulation Result Composite Link Active Joint Theoretical Result 3-link Robot |
| Content Type | Text |
| Resource Type | Article |
