Challenge:
Balance a 2 DOF inverted pendulum upright.
Description:
A long pendulum rod is attached to an instrumented
2 joint gimbal. The pendulum is free to fall in two directions. The
joint angles are measured using sensors. The mechanism is attached
to the tip of the 2DOF robot.
Design a controller that maintains the pendulum
upright using the two servo motors. The system is supplied with a
state feedback controller. You may design any other controller you
wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
