Designing, Implementation and Modeling of an Acrobot Mechanism and its Interface with MATLAB

Abstract

Nowadays, the control of machenical systems with fewer inputs than outputs (Underactuated systems) has become a challenging problem for control engineers. The 2DOF Acrobot system is one of the appealing example of this category. The goal of this paper, is designing, modeling and implementation of an Acrobot system to use in linear control, digital control, robotics and artificial intelligence labs. So, at first, a suitable mechanism (simple and low price) was designed by SolidWorks. Then, the designed mechanism was made carefully. In the next step, dynamical model of the system was obtained based on Euler-Lagrange method. After implementation of some practical subsystem in the Simulink environment, the Acrobot system was linked with the MATLAB using a Data Acquisituon card.

Keywords

• Acrobot
• design
• Implimentation
• underactuated
• MATLAB
• DAQ