Modeling and Analyses of the N-Link Bent-Arm PenduBot

Shao Qiang Yuan; Xin Xin Li

doi:10.4028/www.scientific.net/AMR.171-172.644

Paper Titles

An Adaptive Link-Disjoint Multipath Routing in Ad Hoc Networks
p.628

Sensorless Parameter Identification Method for PMSM Based on Double Manifold Sliding Mode
p.632

The Path Analysis of Innovation Networks Construction of China's Equipment Manufacturing Industry Cluster
p.636

E-Commerce Security Based on a Security Engineering Life Cycle
p.640

Modeling and Analyses of the N-Link Bent-Arm PenduBot
p.644

Pattern of the 3rd Party Reverse Logistics System in Ecological Industrial Park
p.648

Application of Magnetorheological Damper Semi-Active Control Based on Artificial Neural Networks
p.654

Using Library Resource to Cultivate Person with Applied Ability
p.659

Fuzzy Comprehensive Evaluation of Graduate Education Quality Based on AHP
p.663

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 171-172Modeling and Analyses of the N-Link Bent-Arm...

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.