Title :
Impulsive Actuation in Robot Manipulators: Experimental Verification of Pendubot Swing-Up
Author :
Mathis, Frank B. ; Jafari, Roozbeh ; Mukherjee, Rohan
Author_Institution :
Dept. of Mech. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
There are many benefits of using impulsive actuation in dynamical systems; therefore, control systems with impulsive inputs have been widely investigated. All of these investigations, however, have been theoretical in nature and few have reported experimental implementation. This paper discusses continuous-input approximations of impulsive forces in robot manipulators and their implementation in a simple pendulum (one-link robot) using an electric motor. The insights gained from the pendulum experiments are used to implement an existing algorithm for swing-up of the pendubot based on impulsive forces. The experimental results validate the swing-up algorithm but, more importantly, establish the feasibility of using impulsive inputs for robots and other electromechanical systems.
Keywords :
manipulators; pendulums; dynamical systems; electromechanical systems; impulsive actuation; impulsive force continuous-input approximation; one-link robot; pendubot swing-up experimental verification; pendulum; robot manipulators; swing-up algorithm; Closed loop systems; Force; Joints; Mechatronics; Oscillators; Robots; Torque; Experimental verification; impulsive control; impulsive force; pendubot; robot manipulator;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2013.2293474