Title :
The Pendubot: a mechatronic system for control research and education
Author :
Spong, Mark W. ; Block, Daniel J.
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two-link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system, a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The Pendubot complements previous mechatronic systems, such as the Acrobot and the inverted pendulum of Furuta
Keywords :
control engineering education; control theory; educational aids; mechatronics; nonlinear control systems; robot dynamics; Pendubot; actuator; control engineering education; control research; mechatronic system; nonlinear control; nonlinear dynamics; two-link planar robot; Actuators; Control engineering education; Control systems; Mechatronics; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Robot kinematics; Shafts; Systems engineering education;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478951
