Design of rotary inverted pendulum swinging-up and stabilizing

Abstract

The mechanical design of inverted pendulum systems may be very diverse. This study makes use of mathematics to explain the expanded unstable Rotary planer inverted pendulum arrangement (Rotary -inverted system). Pin connections are used in planer-inverted pendulums to attach the pendulum to the rotating- Rotary actuation base. This design of a Rotary -inverted pendulum is explored in the development of underactuated robotic systems because it best simulates the balance of a broomstick in the hand by treating the elbow and shoulder as revolute joints. It is necessary to utilize the Lagrangian equation of motion when creating the dynamical equation for the Rotary -inverted pendulum. MATLAB Simulink is used to simulate a nonlinear computational model of the system so as to test the accuracy of the mathematical model.