Modeling and Construction of a Furuta Pendulum Prototype

In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out...

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Bibliographic Details
Published in2014 International Conference on Mechatronics, Electronics and Automotive Engineering pp. 98 - 103
Main Authors Antonio-Cruz, M., Silva-Ortigoza, R., Merlo-Zapata, C. A., Villarreal-Cervantes, M. G., Munoz-Carrillo, D., Hernandez-Guzman, V. M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2014
Subjects
Construction
DC motors
Furuta Pendulum
Mathematical model
MATLAB
Mechanical design
Mechatronics
Modeling
Numerical models
Numerical simulation
Prototype
Prototypes
Servomotors
Underactuated system
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Summary:In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out via the software Solid Works and subsequently a prototype is built. Numerical simulations of the Furuta pendulum model are performed via Mat lab-Simulink. Furthermore, the Furuta pendulum prototype built is experimentally tested by using Mat lab-Simulink, Control Desk, and a DS1104 board from dSPACE.
DOI:10.1109/ICMEAE.2014.23