The Pendubot: a Mechatronic System for Control Research and Education

  title={The Pendubot: a Mechatronic System for Control Research and Education},
  author={M. W. Spong and Daniel J. Block},
1 In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two{link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system , a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The pendubot complements previous mechatronic systems, such as the Acrobot 3] and the inverted pendulum of Furuta 4]. 
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Mechanical Design & Control of the Pendubot," SAE Earthmoving Industry Confer- ence, Peoria

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On the Identi ca- tion of the Inertial Parameters of Robots,

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