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3D Modeling and Balancing Control of Two-link Underactuated Robots using Matlab/Simulink

  • Yoo, Dong Sang (Department of Electrical, Electronic and Control Engineering, Hankyong National University)
  • Received : 2019.10.29
  • Accepted : 2019.11.15
  • Published : 2019.12.31

Abstract

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

Keywords

References

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