Скачать или смотреть Fast Swing-Up Trajectory Optimization for a Spherical Pendulum on a 7-DoF Collaborative Robot

In this video, the experimental swing-up of a spherical pendulum mounted on a collaborative robot is presented. The primary focus of this work is the design of a fast trajectory planning for the swing-up by systematically incorporating the kinematic and dynamics constraints. The proposed algorithm consists of a planning and a replanning step. The latter has an average computing time of 0.2 s. Simulations and experimental results demonstrate the swing-up of the spherical pendulum using a discrete time-variant linear quadratic regulator as a feedback controller.

Publication:
https://doi.org/10.1109/ICRA48506.202...

Authors:
Min Nhat Vu, https://orcid.org/0000-0003-0692-8830
Christian Hartl-Nesic, https://orcid.org/0000-0003-3054-9435
Andreas Kugi, https://orcid.org/0000-0001-7995-1690

Industrial Robotics, ACIN, TU Wien
https://www.acin.tuwien.ac.at/industr...
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