Experiment control algorithm using acrobot mechanism
Acrobot is double pendulum mechanism having 1 passive and 1 active joint
Acrobot control algorithm implemented.
In swing-up phase, task space partial feedback linearization used,
Near origin, lqr used,
Switching between 2 phases, region of attraction algorithm have to be implemented (not yet)
Install gazebo-ros-pkgs and gazebo-ros-control (might already installed)
$ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
Install effort-controllers for torque-control
$ sudo apt-get install ros-kinetic-effort-controllers
$ cd ~/catkin_ws/src
$ git clone https://github.com/modulabs/gdyn-acrobot
$ cd ~/catkin_ws/
$ catkin_make
$ roslaunch acrobot_gazebo acrobot_world.launch
- write a lqr controller using ros-control
- kdl parser and generalize
- automatically switching controller using region of attraction algorithm
- Tedrake Lecture
- Tedrake paper
- Spong paper
- sos
- gazebo tutorial
- gazebo and ros control