ITM Web Conf.
Volume 47, 20222022 2nd International Conference on Computer, Communication, Control, Automation and Robotics (CCCAR2022)
|Number of page(s)||9|
|Section||Algorithm Optimization and Application|
|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: firstname.lastname@example.org
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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