Control of Pendubot
摘要
Pendubot is depicted in Fig. 12.1. It is a mechanical system composed of two rigid links and two rigid joints. Comparing with human anatomy, we can say that link 1 corresponds to arm and link 2 to forearm. Joint 1 is located at shoulder and joint 2 is located at elbow. Despite Pendubot is provided with two joints, it is provided with only one actuator, at joint 1. No actuator is present at joint 2. It is because of this feature that Pendubot is an underactuated mechanical system. This and its natural instability render Pendubot an interesting workbench for control design.