2A1-F06 Swing-up Control of Acrobot based on Analyzing Equivalent Center of Mass of the horizontal bar Gymnast(Dynamics & Design of Robot System)

Abstract

An Acrobot which is simple model of gymnast on a horizontal bar is a typical example of underactuated systems and is a two-link manipulator with unactuated joint at the root. This study discusses new swing-up controller of the Acrobot based on behavior of a horizontal bar gymnast. Proposed controller focuses to an equivalent center of mass of the Acrobot and the gymnast. For obtaining trajectory equations of behavior of the gymnast, video data of performance of the gymnast is analyzed. And a partial linearization controller using analyzing results is proposed for swing-up control of the Acrobot. Finally an effectiveness of proposed controller is shown by numerical simulation using MATLAB/Simulink.