仮想摩擦に基づくAcrobotの軌道計画

概要

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In this paper, a new method of planning the swing-up motion of an acrobot is presented based on its fallingdown motion. First, the initial state of the acrobot is set to the unstable upright equilibrium position, and the movement from this state to the stable downward equilibrium position is produced by introducing an artificial damping torque. Next, the motion planning problem is formulated as a constrained nonlinear optimal problem, and an optimal damping coefficient is obtained by solving this problem. Then, the swing-up motion is taken to be the reverse of the falling-down motion. The validity of this method is demonstrated through simulations.
公益社団法人計測自動制御学会の論文