Motion Planning of a Triple-Link Robotic System

Abstract

The Robogymnast is a complex system formed from a triple-inverted pendulum and mimics the action of a gymnast as they hang by their hands from a high bar and perform progressive upswings to eventually rotate completely around the bar. The three links of the Robogymnast can be compared to the lower limbs, the torso, and the upper limbs of a gymnast, with a single passive joint and two further stepper-motor powered joints. There is sensor equipment attached to the different links to gather data and control signals. While this system has been physically constructed, the current paper describes the approach to automating the 3-link pendulum and describes the system, its parts and setup. Following this, STM32 is applied for programming, system operation and presentation of results.

Keywords

• Robogymnast
• multi-link robotic
• swing-up
• stepper motor