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2DOF Inverted Pendulum

2DOF Inverted Pendulum

 

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



Rotary Product Range


  • 2DOF-ballBalance


    2DOF Ball Balancer


  • 2DOF-inverted


    2DOF Inverted Pendulum


  • 2DOF-robot


    2DOF Robot


  • Rotary-ball-beam-exp


    Ball and Beam


  • dlb-invert-pend


    Double Inverted Pendulum


  • flex-link


    Flexible Link


  • gyro-stable


    Gyro / Stable Platform


  • inverted-pend


    Inverted Pendulum


  • multi-DOF


    Multi DOF Torsion


  • srvo


    Position Servo (SRV02)


  • QET DC Motor Control - USB Board Installed


    QET DC Motor Trainer



  • QUBE Servo

 Demonstration

Windows Media Low (1.6 Mb) High (3.3 Mb)
QuickTime Low (2.7 Mb) High (4.7 Mb)

iMath Asia
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