Zero Vibration position control of a spherical pendulum for control systems demonstration

摘要

This paper presents the control design and interface implementation of a spherical pendulum system for control education demonstration. The Zero Vibration input shaper is implemented in the robot controller to minimize command induced cable swing. To maximize user perception, the interface is developed on a LabVIEW environment within a standard PC which is interface to the robot controller by a T1 connection. The system demonstration enables a broad range of audience to appreciate control systems and its effects in improving system performance.