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The planar inverted pendulum series adopts an open architecture control solution and a modularised experiment platform. With XY table and 2-DOF robot arm modules as the base platform, adding a 2-DOF ball joint, an one-stage or a two-stage inverted pendulum provides a more challenging research and experiment platform. A planar inverted pendulum simulates more closely the control and visual effect of an inverted handstand of an acrobat or the launching position control of a missile or rocket.
The hardware platform is based on PC and DSP-based motion controller. An experiment verification program (DOS version) is provided with source code, and control software in MATLAB Simulink, making it easy to development users own controllers. XY table, 2-DOF robot arm and 2-DOF ball joints are all designed and manufactured according to industrial standards. An industrial incremental encoder and AC servo motor are provided.
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