Control of a two-link-one-motor robot - Mobility with the rotation of a link by swinging of the body

摘要

We are interested in the mobility of a simple mechanism with two links and one-motor, which works in one dimension. It can move by rotation of the lower link with the swing of the upper link. We have developed a two-links experimental robot, implemented a detailed simulation of this system, and designed a non-linear feedback controller to realize one step stable motion of this mechanism.