抄録
This paper investigates giant swing motions of a 3-DOF link horizontal bar mechanism. The shooting method for two sets of link parameters; a human body and an experimental setup derives five free giant swing motions. Dependence of giant motions on link parameters is discussed. To stabilize free giant swing motions, a feedback control method that actuates the second and third joint is investigated for an experiment. Each joint torque is controlled such that the measured state variables follow the time-depend free giant motion trajectories. Sets of six feedback gains are successfully determined with Genetic Algorithm (GA) for various swing motions and periods.
