Modelling and control of a variable-length flexible beam on inspection ground robot
Giancarlo D'Ago,Marie Lefebvre,Luca Rosario Buonocore,Fabio Ruggiero,Mario Di Castro,Vincenzo Lippiello,Giancarlo D'Ago,Marie Lefebvre,Luca Rosario Buonocore,Fabio Ruggiero,Mario Di Castro,Vincenzo Lippiello
Stabilising an inverted pendulum on a cart is a well-known control problem. This paper proposes the mechan-ical and control design for solving the oscillation problem of a variable-length flexible beam mounted on a mobile robot. The system under consideration is the robot PovRob, used at the European Organization for Nuclear Research (CERN) for visual and remote inspection tasks of particle accele...
