• DocumentCode
    1230234
  • Title

    Robot control: swinging like a pendulum

  • Author

    O´Leary, D.P. ; Sagduyu, Yalin E.

  • Author_Institution
    University of Maryland
  • Volume
    5
  • Issue
    4
  • fYear
    2003
  • Firstpage
    68
  • Lastpage
    71
  • Abstract
    Suppose we have a robot arm with a single joint, simply modeled as a damped driven pendulum. it´s amazing how such a trivial system illustrates so many difficult concepts! The authors study the stability and behavior of this robot arm and develop a strategy to move the arm from one position to another using minimal energy.
  • Keywords
    controllability; damping; robot kinematics; stability; boundary value problem; controllability; damped driven pendulum; pendulum equation; robot arm; stability; Acceleration; Controllability; Damping; Differential equations; Eigenvalues and eigenfunctions; Linear approximation; Nonlinear equations; Robot control; Stability analysis; Steady-state;
  • fLanguage
    English
  • Journal_Title
    Computing in Science & Engineering
  • Publisher
    ieee
  • ISSN
    1521-9615
  • Type

    jour

  • DOI
    10.1109/MCISE.2003.1208646
  • Filename
    1208646
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1230234