This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link ‘in phase’ with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol\u27s equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot.
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机译：本文讨论了单杠上有两个连杆和一个被动关节的单杠体操机器人的运动控制。首先，我们表明，通过周期性地摆动第二个连杆，第一连杆的摆动幅度会随着共振和参数激励而增加。接下来，我们提出了一种控制方法，该方法通过使第二连杆随同第一连杆的运动而“同相”摆动，从而利用夹带产生每种激励。在我们的方法中，控制输入由输入第一连杆角速度的van der Pol \ u27s方程的周期解组成。最后，我们给出了在实际机器人中可以实现摆动控制和连续巨型摆动的实验结果。
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