TAILIEUCHUNG - MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT

Despite beingmotivated by problems in robotics and control theory, the present paper does not discuss the effect of general forces. The control theorywe have used as motivation deals largely with “internal forces” such as those that naturally enter into the snakeboard. While we do not systematically deal with general external forces in this paper, we do have them in mind and plan to include them in future LAM [1994] and JALNAPURKAR [1995] have pointed out, external forces acting on the system have to be treated carefully in the context of the Lagrange-d’Alembert principle. Our framework is that of the traditional setup for constraint forces as described in. | MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT BY DANIEL JEROME BLOCK . University of Illinois 1991 THESIS Submitted in partial fulfillment of the requirements for the degree of Master of Science in General Engineering in the Graduate College of the University of Illinois at Urbana-Champaign 1996 Urbana Illinois MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT Daniel Jerome Block . Department of General Engineering University of Illinois at Urbana-Champaign 1996 Mark W. Spong Adviser In this thesis we present the design and control of an underactuated two link robot called the Pendubot. We first give details of the design of the Pendubot discussing the components of the linkage and the interface to the PC used as the controller. Parameter identification of the Pendubot is accomplished by solid modeling methods a least squares solution to the energy equations of the linkage and a constrained minimization technique. With the identified parameters mathematical models are developed to facilitate controller design. The goal of the control is to swing the linkage from the downward equilibrium position to the unstable inverted equilibrium positions and balance it there. Two control algorithms are used for this task. Partial feedback linearization techniques are used to design the swing up control. The balancing control is then designed by linearizing the dynamic equations about the desired equilibrium point. LQR and pole placement techniques are used to design the stabilizing controller. iii DEDICATION I dedicate this work to my wife Faith who has been my number one fan and who will always be my number one hero. .

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