Abstract
Previous paper shows the realization of single salto backward using a self-standing type horizontal bar exercise robot. Developed robot has three links which are connected with two rotational joints and driven by two DC motors. It is assumed that each actuator is controled by PD control method. As a result, the control system is modeled by a rotational damper and a torsion spring of which the setting angle is able to change during the motion. In order to find the target values of the control system, an animation program is developed by using the integration of derived equations of motion. Finally, a self-standing robot was realized a salto backward after the dismount by simulated target values. This paper shows the realization of double salto backward which is more difficult and challenging than a single one. At the first simulation, the double salto backward needs at least 7.3rad/s over the horizontal bar. This anguler velocity is able to get by two times of forward giant swing. An experimental result demonstrates double salto backward which is conformable with the simulated result.
