We address the control problem for the Butterfly, an interesting example of 2-dof underactuated mechanical system. This robot consists of a butterflyshaped rotational link on whose rim a ball rolls freely. The control objective is to stabilize the robot at a certain unstable equilibrium. To this end, exploiting the existence of heteroclinic trajectories, we extend a previously proposed energy-based technique. Simulation results show the effectiveness of the presented method.
Energy-based control of the Butterfly robot / Cefalo, Massimo; Lanari, Leonardo; Oriolo, Giuseppe. - (2006). (Intervento presentato al convegno 8th International IFAC Symposium on Robot Control, 2006 tenutosi a Bologna, Italy nel September 2006) [10.3182/20060906-3-IT-2910.00002].
Energy-based control of the Butterfly robot
CEFALO, Massimo;LANARI, Leonardo;ORIOLO, Giuseppe
2006
Abstract
We address the control problem for the Butterfly, an interesting example of 2-dof underactuated mechanical system. This robot consists of a butterflyshaped rotational link on whose rim a ball rolls freely. The control objective is to stabilize the robot at a certain unstable equilibrium. To this end, exploiting the existence of heteroclinic trajectories, we extend a previously proposed energy-based technique. Simulation results show the effectiveness of the presented method.| File | Dimensione | Formato | |
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