Unstable Object Stabilization and Control Using a DD Robot Manipulator

摘要

This paper addresses the issue of robotic manipulation of multi-DOF inverted pendulums. A control scheme is designed using Lyapunov stability theory for both the robot position control and pendulum stabilization. Following this control design, first, a manifold is designed to prescribe the desired performance of the system. Then, the control law is derived such that the motions of the robot and behavior of the inverted pendulum converge and remain to the designed manifold. Stability of the system is demonstrated using Lyapunov stability theory. Simulations using Matlab software package are carried out to verify the control method. A robot arm with two rigid links carrying a two-DOF inverted pendulum as its payload are adopted as a test bed facility. Using this facility, manipulating experiments are carried out. The results show the effectiveness and utilities of proposed robot system.