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Control of giant swing motion of a two-link horizontal bar gymnastic robot

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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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Keywords: GIANT SWING; HORIZONTAL BAR GYMNASTIC ROBOT; MOTION CONTROL; NON-HOLONOMIC SYSTEM; STABILITY

Document Type: Research Article

Affiliations: 1: Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552 Japan 2: Yaskawa Electric Group, 2-1 Shiroishi Kurosaki, Yahatanishsi-ku, Kitakyusyu-city, Fukuoka, 806-0004, Japan

Publication date: 2001-07-01

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