Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism

Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism

This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism, better known as a five-bar mechanism. The whole mechanism has four degrees of freedom, but it has only two actuators and...

Full description

Bibliographic Details
Main Authors: Israel Soto, Ricardo Campa
Format: Article
Language:English
Published: SAGE Publishing 2015-07-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/60027
id doaj-17bc811df28c40c785ac6d1ac6f736b8
record_format Article
spelling doaj-17bc811df28c40c785ac6d1ac6f736b82020-11-25T03:40:52ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-07-011210.5772/6002710.5772_60027Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar MechanismIsrael Soto0Ricardo Campa1Institute of Engineering and Technology, Universidad Autónoma de Ciudad Juárez, Ciudad Juárez, Chihuahua, MexicoDivision of Graduate Studies and Research, Instituto Tecnológico de la Laguna, Torreón, Coahuila, MexicoThis paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism, better known as a five-bar mechanism. The whole mechanism has four degrees of freedom, but it has only two actuators and so it is an under-actuated system. The nonlinear dynamics model of the complete system is first obtained using a non-minimal set of generalized coordinates, and then a reduced equivalent model is computed. To validate this approach, the reduced model is linearized and simulations are carried out, showing the stabilization of the system with a simple LQR controller. Experimental results on an academic prototype are also presented.https://doi.org/10.5772/60027
collection DOAJ
language English
format Article
sources DOAJ
author Israel Soto
Ricardo Campa
spellingShingle Israel Soto
Ricardo Campa
Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
International Journal of Advanced Robotic Systems
author_facet Israel Soto
Ricardo Campa
author_sort Israel Soto
title Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
title_short Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
title_full Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
title_fullStr Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
title_full_unstemmed Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
title_sort modelling and control of a spherical inverted pendulum on a five-bar mechanism
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2015-07-01
description This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism, better known as a five-bar mechanism. The whole mechanism has four degrees of freedom, but it has only two actuators and so it is an under-actuated system. The nonlinear dynamics model of the complete system is first obtained using a non-minimal set of generalized coordinates, and then a reduced equivalent model is computed. To validate this approach, the reduced model is linearized and simulations are carried out, showing the stabilization of the system with a simple LQR controller. Experimental results on an academic prototype are also presented.
url https://doi.org/10.5772/60027
work_keys_str_mv AT israelsoto modellingandcontrolofasphericalinvertedpendulumonafivebarmechanism
AT ricardocampa modellingandcontrolofasphericalinvertedpendulumonafivebarmechanism
_version_ 1724532430421884928

Similar Items