Paper Title:
Modeling and Analyses of the N-Link Bent-Arm PenduBot
  Abstract

Bent-arm PenduBot is more similar to human arm, which attaches more and more robot experts’ attention around the world. As the foundation of the multi-link PenduBot control, the mathematical model should be established first. Based on the method of kinematics and dynamics, the N-link bent-arm PenduBot mathematical models are established in this paper, including the nonlinear model and the linear model. The natural characteristics of different pendulum are analyzed. By using the condition number of the controllability matrix, the control difficulty for higher order systems is compared.

  Info
Periodical
Advanced Materials Research (Volumes 171-172)
Edited by
Zhihua Xu, Gang Shen and Sally Lin
Pages
644-647
DOI
10.4028/www.scientific.net/AMR.171-172.644
Citation
S. Q. Yuan, X. X. Li, "Modeling and Analyses of the N-Link Bent-Arm PenduBot", Advanced Materials Research, Vols. 171-172, pp. 644-647, 2011
Online since
December 2010
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Price
$32.00
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