Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this paper, we show that swing-up and giant-swing of a two-link gymnastic robot(Acrobot) can be controlled by using the periodic input control method. First, we analyze the energy change rate when the periodic motion of a passive first link and the motion of an active second link are synchronized, and describe the timing to control swing-up and giant-swing motion. Next, we design the energy controller that can control the energy of a robot by the periodic input; the amplitude of the periodic input is modulated in response to deviations from the target energy. Finally, we show the experimental results that verified the effectiveness of the controller by using an actual machine. Our controller can control the energy from the swing-up mode to the giant swing mode without switching the control law.
