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

Abstract:

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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 and 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:

$35.00

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