{"title":"自动上升的钟摆","authors":"C. Schmid","doi":"10.23919/ECC.1999.7099890","DOIUrl":null,"url":null,"abstract":"This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine's principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"An autonomous self-rising pendulum\",\"authors\":\"C. Schmid\",\"doi\":\"10.23919/ECC.1999.7099890\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine's principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.\",\"PeriodicalId\":117668,\"journal\":{\"name\":\"1999 European Control Conference (ECC)\",\"volume\":\"19 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1999 European Control Conference (ECC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/ECC.1999.7099890\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1999 European Control Conference (ECC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ECC.1999.7099890","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine's principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.
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