Continuous Motion Control Experiments of Swing-Up and Handstand of a Two-Link Horizontal Bar Gymnastics Robot Using Inertia Rotor

摘要

This paper describes continuous motion control experiments of swing-up and handstand of a two -link horizontal bar gymnastics robot. The model robot has an inertia rotor to generate hand grip torque. The feedback acceleration of robot joint angles using resolved acceleration control are obtained from the dynamic equation of the free joint which means the coupling characteristics and integrated to use motor velocity commands. Digital gains are obtained using regulator control with unstable poles assigned for swing-up motion and, after the swinging motion, using sliding mode control for handstand state. Two posture modes of straight and bow of the handstand state are experimented. The experimental results show that continuous motion of swing--up and handstand is possible using above proposed control system.