Mahmoud Mohamed1,2,*, Bdereddin Abdul Samad1,3, Fatih Anayi1, Michael Packianather1, Khalid Yahya4
CMC-Computers, Materials & Continua, Vol.75, No.3, pp. 4681-4696, 2023, DOI:10.32604/cmc.2023.035312
Abstract The Robogymnast is a highly complex, three-link system based
on the triple-inverted pendulum and is modelled on the human example of
a gymnast suspended by their hands from the high bar and executing larger
and larger upswings to eventually rotate fully. The links of the Robogymnast
correspond respectively to the arms, trunk, and lower limbs of the gymnast,
and from its three joints, one is under passive operation, while the remaining
two are powered. The passive top joint poses severe challenges in attaining
the smooth movement control needed to operate the Robogymnast effectively.
This study assesses four types of controllers… More >
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