The Pendubot: a mechatronic system for control research and education

In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two-link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system, a number of fundamental co...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 1; pp. 555 - 556 vol.1
Main Authors Spong, M.W., Block, D.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Actuators
Control engineering education
Control systems
Mechatronics
Nonlinear control systems
Nonlinear dynamical systems
Robot control
Robot kinematics
Shafts
Systems engineering education
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Summary:In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two-link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system, a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The Pendubot complements previous mechatronic systems, such as the Acrobot and the inverted pendulum of Furuta.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.478951