Title :
Robot control: swinging like a pendulum
Author :
O´Leary, D.P. ; Sagduyu, Yalin E.
Author_Institution :
University of Maryland
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;
Journal_Title :
Computing in Science & Engineering
DOI :
10.1109/MCISE.2003.1208646
