Swing-Up of a Spherical Pendulum on a 7-Axis Industrial Robot

Swing-Up Control of a Pendulum

A pendulum is a bob of mass , attached to a frictionless pivot point via a massless rod of length . The bob is free to swing from side to side in a vertical plane. Let  denote the acceleration due to gravity. Let  denote the angle between the rod and a vertical axis. The pendulum has two equilibrium positions, a stable one at  = 0 (bottom) and an unstable one at  =  (top). Assume further...

Swing up Control of an Inverted Pendulum

Swing-up control of inverted pendulum systems

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with pre...

Swing Up Control of Inverted Pendulum Abstract

Katsuhisa Furuta and Masaki Yamakita Department of Control Engineering Tokyo Institute of Technology 2121 0 h-0 kayama, Meguroku Tokyo 152 Japan Seiichi Kobayashi Nippon Seiko Ltd. 78 Toriba-machi, Maebashi-shi Gunma 371 Japan Inverted pendulums have been used for the verification of designed control systems and control laboratory experiments in control theory education. In particular, the cont...

MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL

This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...