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What is Inverted Pendulum Balancing with SCARA about?

This document describes balancing an inverted pendulum mounted on a SCARA robot. It discusses different pendulum setup configurations of increasing difficulty, including the experimental setup using a SCARA robot with two degrees of freedom. A specialized sensor system allows contactless measurement of very small pendulum angle changes. The goal is to compensate for nonlinearities in the robot and develop a robust linear controller to balance the unstable pendulum by controlling its projections in the xz an

Author

hophuong_dhv

Language

EN