Collinear control of dissipative double pendulum

Collinear control of dissipative double pendulum

Victor A. Leontev
PhD in Physics and Mathematics, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)297-30-58, This email address is being protected from spambots. You need JavaScript enabled to view it., This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexey S. Smirnov
Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Assis-tant, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.

Boris A. Smolnikov
PhD in Physics and Mathematics, SPbPU, Professor, Senior Research Scientist, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 10 October 2018

Abstract
The paper discusses the issues of so-called biomorphic control of oscillations of a dissipative double pendulum, which simulates the android’s leg or arm movement. It is emphasized, that it is most appropriate to build a biomorphic control by use of the collinear control mode based on autoresonance acceleration of the pendulum links. The linear mathematical model of a dissipa-tive two-link pendulum, which is considered in the article, admits the exact finding of the roots of its characteristic polynomial. It also allows designing the diagram of its possible movement modes depending on values of the dissipation and gain coefficients. It is possible to implement the mode of the resonant oscillations that ensures the predominance of the first oscillation mode by means of such diagram and varying these coefficients.

Key words
Dissipative double pendulum, autoresonance, collinear control, mode diagram.

DOI

https://doi.org/10.31776/RTCJ.7109 

Bibliographic description
Leontev, V., Smirnov, A. and Smolnikov, B. (2019). Collinear control of dissipative double pendulum. Robotics and Technical Cybernetics, 7(1), pp.65-70.

UDC identifier:
531.25

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