Control of giant swing motion of a two-link underactuated horizontal bar robot

We investigated a control method to realize Me three types of free giant swing motions of a two-link horizontal bar robot. BY evaluating eigenvalues of the transitional error matrix: on the Poincare plane, it was found Mat Me stable giant swing motions can be obtained by a proposed configuration control, in which Me actuated joint torque is controlled such that Me measured state variables follow Me reference configuration with respect to Me angular position of the passive point. We also demonstrated that the stable giant swing motions of type B and C could be realized by the configuration method.