Swinging-Up Motion and Upside-Down Standing of Pendulum with Inertia Rotor.

摘要

This paper describes the control and behavior of a simple robot, consisting of a pendulum and an inertia rotor, which can mimic gymnastic bar exercise. The rotor is rotated by a torque-limited DC servo motor fixed to the pendulum. The center of gravity of the rotor on the pendulum is invariable. The swinging motion of the robot is due to the reaction of acceleration torque of the inertia rotor. By means of energy control, the robot can be made to perform a swinging-up maneuver and a full swing around an iron bar. Moreover, the pendulum can be made to balance vertically above the bar means of optimal control after energy control as well as by means of trajectory control.