We investigated a control method to realize the three different types of free giant swing motions produced by a two-link horizontal bar gymnastic robot. By evaluating the eigenvalues of the transitional
error matrix on the Poincare plane, it was found that the stable giant swing motions could be obtained by a proposed configuration control, in which the actuated joint torque is controlled such that the
measured state variables follow the reference configuration with respect to the angular position of the passive joint. We also demonstrated that the two types of stable giant swing motions could be accomplished
by the configuration method.
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