| Issue |
ITM Web Conf.
Volume 47, 2022
2022 2nd International Conference on Computer, Communication, Control, Automation and Robotics (CCCAR2022)
|
|
|---|---|---|
| Article Number | 02012 | |
| Number of page(s) | 9 | |
| Section | Algorithm Optimization and Application | |
| DOI | https://doi.org/10.1051/itmconf/20224702012 | |
| Published online | 23 June 2022 | |
Analysis and trajectory planning for anti-swing on a one-stage cart pendulum
1 School of Mechanical and Electrical Engineering, Guangdong University of Science and Technology, Dongguan, China
2 Laboratory of Intelligent Manufacturing and Precision Machining, Tsinghua Shenzhen International Graduated School, Tsinghua University, Shenzhen, China
3 Department of Research and Development, Googol Paradox (Dongguan) Intelligent Technology Co., Ltd., Dongguan, China
* Corresponding author: wangdanhbyc@hotmail.com
In order to achieve smooth and anti-swing positioning process, a smooth trajectory planning scheme, which is mainly the linear combination of trigonometric functions, is proposed for a one-stage cart pendulum. Based on the internal dynamics of the cart pendulum system, the planning trajectory of the cart is derived from the anticipated swing angle of the pendulum bar, which satisfies the initial and terminal state constraints. Experiments are conducted to demonstrate the performance of anti-swing with the introduced planned trajectory.
© The Authors, published by EDP Sciences, 2022
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