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Abstract

In this paper, the virtual holonomic constraint approach is initiatively applied for the trajectory planning and control design of a typical double link underactuated mechanical system, called the Pendubot. The goal is to create synchronous oscillations of both links. After modeling the system using Euler-Lagrangian equations of motion, the parameters of the model are identified with optimization techniques. Using this model, the trajectory planning is done via Virtual Holonomic Constraint approach on the basis of re-parameterization of the motion according to geometrical relations among the generalized coordinates of the system.



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Article Details

Issue: Vol 18 No 3 (2015)
Page No.: 76-85
Published: Aug 30, 2015
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v18i3.887

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Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Cao, K., & Ho, A. (2015). Pendubot trajectory planning and control using virtual holonomic constraint approach. Science and Technology Development Journal, 18(3), 76-85. https://doi.org/https://doi.org/10.32508/stdj.v18i3.887

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