Brief paper: Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments

  • Authors:

  • L. Freidovich;A. Robertsson;A. Shiriaev;R. Johansson

  • Affiliations:

  • Department of Applied Physics and Electronics, Ume University, SE-901 87 Ume, Sweden;Department of Applied Physics and Electronics, Ume University, SE-901 87 Ume, Sweden and Department of Automatic Control, LTH, Lund University, P.O. Box 118, SE-221 00 Lund, Sweden;Department of Applied Physics and Electronics, Ume University, SE-901 87 Ume, Sweden and Department of Engineering Cybernetics, NTNU, NO-7491 Trondheim, Norway;Department of Automatic Control, LTH, Lund University, P.O. Box 118, SE-221 00 Lund, Sweden

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2008

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Abstract

This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, which is not directly actuated. We exploit a recently proposed feedback control design strategy, based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation.