Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism. (17th July 2015)

• Record Type: Journal Article
• Authors: Soto, Israel; Campa, Ricardo
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 7(2015)
• Publication Date: 2015-07-17
• Subjects: modelling -- inverted pendulum -- parallel mechanism -- under-actuated systems; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60027
• Languages: English
• ISSNs: 1729-8806

Abstract

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.