Modeling and control of a 3-DOF pendulum-like manipulator

Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

31 Scopus citations

Abstract

This work deals with the kinematic and dynamic modeling of a 3-DOF, under-actuated, pendulum-like manipulator and its control system. The cable-based device is capable of completing point-to-point planar motions, driving the end-effector from a starting pose to a goal pose, by means of two actuators only. The device relies on parametric excitation to control the oscillations of the variable-length pendulum. Unlike a previous work [1], the dynamic model introduced here is consistent with the assumption of cable-based device. Several control strategies are compared through numerical simulations.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages3964-3969
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/TerritoryChina
CityShanghai
Period9/05/1113/05/11

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