NDLI: Mechanism design and dynamics analyses for an under-actuated three-joint acrobot

Content Provider	IEEE Xplore Digital Library
Author	Hao Jianbao Huang Xinbing
Copyright Year	2011
Description	Author affiliation: Department of Mechanical and Electrical Engineering, Guangdong Communication Polytechnic. Huadu district, Guangzhou city, 510800, China (Hao Jianbao) \|\| Department of Traffic and Control Guangdong Communication Polytechnic. Huadu district, Guangzhou city, 510800, China (Huang Xinbing)
Abstract	The acrobot is an under-actuated three-joint planar robot that mimics the human acrobat who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with his/her hands still on the bar. In this paper we first design the under-actuated three-joint acrobot which like human being both in actuate and appearance. And then, dynamic model is derived by Lagrange equations, and controllable of the acrobot is analyzed. Finally, simulation shows that the acrobot is satisfied with respond quickly and allowable static error.
Starting Page	5042
Ending Page	5045
File Size	272434
Page Count	4
File Format	PDF
ISBN	9781612844589
e-ISBN	9781612844596
DOI	10.1109/CECNET.2011.5768213
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-joint Simulation Dynamics Shoulder Mathematical model Mechanical systems Dynamic model Joints Robots Hip
Content Type	Text
Resource Type	Article

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Mechanism design and dynamics analyses for an under-actuated three-joint acrobot