Stabilization of acrobat robot in upright position on a horizontal bar

被引：0

作者：

Yamakita, M ^{[1
]}

Yonemura, T ^{[1
]}

Michitsuji, Y ^{[1
]}

Luo, ZW ^{[1
]}

机构：

[1] Tokyo Inst Technol, Dept Mech & Control Syst Engn, Tokyo 152, Japan

来源：

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a control algorithm for the problem of stabilization of Acrobat Robot in upright position on a horizontal bar, in an actual experimental environment. The dynamics of the closed loop is designed to match a stable closed loop dynamics around the equilibrium. Moreover, we apply a iterative learning control in order to deal with modeling errors. The validity of the proposed methods will be shown by numerical simulations and experiments.

引用

页码：3093 / 3098

页数：6

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