The Pendubot: a mechatronic system for control research and education

摘要

In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two-link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system, a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The Pendubot complements previous mechatronic systems, such as the Acrobot and the inverted pendulum of Furuta.