期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 19, 期 4, 页码 1469-1474出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2013.2293474
关键词
Experimental verification; impulsive control; impulsive force; pendubot; robot manipulator
类别
资金
- National Science Foundation (NSF) [CMMI 0925055]
There are many benefits of using impulsive actuation in dynamical systems; therefore, control systems with impulsive inputs have been widely investigated. All of these investigations, however, have been theoretical in nature and few have reported experimental implementation. This paper discusses continuous-input approximations of impulsive forces in robot manipulators and their implementation in a simple pendulum (one-link robot) using an electric motor. The insights gained from the pendulum experiments are used to implement an existing algorithm for swing-up of the pendubot based on impulsive forces. The experimental results validate the swing-up algorithm but, more importantly, establish the feasibility of using impulsive inputs for robots and other electromechanical systems.
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