Home >

news Help

Publication Information


Title
Japanese: 
English:Throwing Motion Control fo the Pendubot and Instability Analysis fo the Zero Dynamics 
Author
Japanese: 小路 拓也, 関口 和真, 三平 満司.  
English: Takuya Shoji, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference 2011 
Volume, Number, Page         pp. 2849-2855
Published date Dec. 12, 2011 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:the 50th Conference on Decision and Control and European Control Conference 2011 
Conference site
Japanese: 
English:Orlando 
Abstract This paper presents systematic methods for throwing motion control of the Pendubot based on the concept of explosively unstable zero dynamics. The Pendubot, an underactuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The controller is designed based on input-output linearization and output zeroing control since the Pendubot is not input-state linearizable. The originality of this paper is to intentionally destabilize the zero dynamics, a nonlinear dynamics which remains unobservable from the output when the partially linearized dynamics converges exponentially to zero, to generate dynamic acceleration of the ball. Mathematical analysis of ordinary differential equations guarantees the explosive instability of the zero dynamics. Numerical simulations verify the effectiveness of the proposed control strategy.

©2007 Tokyo Institute of Technology All rights reserved.