Dynamic model and motion control analysis of three-link gymnastic robot on horizontal bar

摘要

Based on the observation of gymnast's swing-up movement, a simplified three-link horizontal bar robot is designed. With corresponding mathematic model developed, its dynamic characteristics are analyzed and simulation results are presented. From a general control perspective, an effective approach, that combines human simulated intelligent control method with Schema theory, and its feasibility are pointed out to obtain the planning motion control.