Impulsive Actuation in Robot Manipulators: Experimental Verification of Pendubot Swing-Up

There are many benefits of using impulsive actuation in dynamical systems; therefore, control systems with impulsive inputs have been widely investigated. All of these investigations, however, have been theoretical in nature and few have reported experimental implementation. This paper discusses con...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2014-08, Vol.19 (4), p.1469-1474
Main Authors: Mathis, Frank B., Jafari, Rouhollah, Mukherjee, Ranjan
Format: Article
Language:English
Subjects:
Actuation
Algorithms
Approximation
Closed loop systems
Dynamical systems
Experimental verification
Force
impulsive control
impulsive force
Joints
Manipulators
Mechatronics
Oscillators
pendubot
Pendulums
Robot arms
robot manipulator
Robots
Torque
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Summary:There are many benefits of using impulsive actuation in dynamical systems; therefore, control systems with impulsive inputs have been widely investigated. All of these investigations, however, have been theoretical in nature and few have reported experimental implementation. This paper discusses continuous-input approximations of impulsive forces in robot manipulators and their implementation in a simple pendulum (one-link robot) using an electric motor. The insights gained from the pendulum experiments are used to implement an existing algorithm for swing-up of the pendubot based on impulsive forces. The experimental results validate the swing-up algorithm but, more importantly, establish the feasibility of using impulsive inputs for robots and other electromechanical systems.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2013.2293474