A Gymnastic Technique-based Control Method for a Three-link Underactuated Robot
نویسندگان
چکیده
Abstract— In this paper, new swing-up controller for a threelink underactuated robot using a technique of horizontal bar gymnast is proposed. This controller is designed based on an equivalent center of mass(ECM) of the gymnast and the robot. The ECM of the gymnasts(ECMG) derived by analyzing a video data and a proposed controller is designed in order to realize that the ECM of the robot imitates the ECMG. The effectiveness of proposed controller is verified by the numeric simulation by using MATLAB/Simulink.
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تاریخ انتشار 2014