D. Zanotto, G. Rosati, and S. K. Agrawal
Modeling and control of a 3-dof pendulum-like manipulator
In Proceedings of the 2011 IEEE International Conference on Robotics and Automation ICRA 2011, pages 3964-3969, Shanghai, China, May 9-13 2011

Abstract: This work deals with the kinematic and dynamic modeling of a 3-DOF, under-actuated, pendulum-like manipulator and its control system. The cable-based device is capable of completing point-to-point planar motions, driving the endeffector from a starting pose to a goal pose, by means of two actuators only. The device relies on parametric excitation to control the oscillations of the variable-length pendulum. Unlike a previous work, the dynamic model introduced here is consistent with the assumption of cable-based device. Several control strategies are compared through numerical simulations.

Topic: Robotics

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