Sensor Guided Robot Motions Using the Example of the Inverted Pendulum

Abstract

This article presents the implementation of the well known inverted pendulum problem together with an industrial robot. The inverted pendulum is an adequate controlled system to demonstrate advanced control algorithms. Regarding this system there are more restrictions in comparison with the pendulum mounted on a linear ball screw, e.g., lower acceleration, smaller traversing range and the relatively high cycle time of the commercial robot controller which was used. In this paper two control algorithms are designed, one for swinging up the pendulum by coordinated robot motions, and one for balancing the pendulum in the upper position based on a state space controller with an additional feature of zero point offset adaptation. The approaches were implemented into the robot controller and verified with the real system.