| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712543 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
We address the control problem for the Butterfly, an interesting example of 2-dof underactuated mechanical system. This robot consists of a butterfly-shaped rotational link on whose rim a ball rolls freely. The control objective is to stabilize the robot at a certain unstable equilibrium. To this end, exploiting the existence of heteroclinic trajectories, we extend a previously proposed energy-based technique. Simulation results show the effectiveness of the presented method.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Massimo Cefalo, Leonardo Lanari, Giuseppe Oriolo,