3D Pendulum Swinging Control by an Industrial Robot Manipulator
作者： Heinz Wörn , Simon Notheis , Wilhelm August , Björn Hein , Thomas Haase
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摘要: In this paper a pendulum of two degrees freedom is investigated, i.e. spherical which attached to the end effector an industrial robot manipulator. The result presented research controllable transport in all three dimensions. That means real time control during and stable reaction suddenly changing circumstances. mathematical model has been derived due Lagrangian mechanics without consideration external forces. position observed with USB camera also follows motion analysis images taken by provides estimation current builds input controller. For first experimental setup, controller are explained then some results presented.
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