Edubot: a reconfigurable kit for control education. II. Identification and control

摘要

For pt.I see ibid., p.50-5 (2000). This paper describes the dynamical modeling, parameter identification, and initial experimental results of a reconfigurable educational robotic kit, named the Edubot. This kit can be easily assembled to perform a wide range of both linear and nonlinear control system experiments. Two examples, a pendubot and an acrobot, are discussed in detail to illustrate the potential of this kit.