Full dynamics identification of multi-link inverted pendulum: Analysis and implementation

• Main Authors: Jamisola, Rodrigo S., Jr., Dadios, Elmer P.
• Format: text
• Published: Animo Repository 2009
• Subjects: Dynamics; Pendulum; Electrical and Computer Engineering
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/6738
• Institution: De La Salle University

This work presents a method of identifying the full dynamics parameters of multi-link inverted pendulum, together with its analysis and implementation. It is assumed that each link has an actuated joint whose axis of rotation is different from its center of mass. Thus its driving torque is influenced by gravitational force. This work will utilize the actual force of gravity for the inverted pendulum to achieve a natural oscillation. The oscillatory motion of the pendulum allows the system to be converted into an optimization problem through the minimization of its frequency of oscillation. The correct dynamics parameters are already found when the minimum frequency of oscillation is achieved. The proposed method is analyzed and a theorem is presented that supports the claims presented in this work. And lastly, implementation results are shown.