Dynamic Analysis of the Tilted Furuta Pendulum

Abstract

This paper deals with the dynamic analysis of a tilted passive Furuta pendulum. The pendulum is tilted to ensure the existence of a stable equilibrium position. An analytical and ADAMS models are developed. These models take into account the full inertia of the pendulum and the viscous and dry friction in the joints. The only external force applied to the model is the weight. An experimental setup is used to validate the obtained models. The simulated time response of the system is compared to the experimental one. A good agreement between the two results is obtained. A frequency analysis of the response is then performed, which showed the existence of different harmonics depending on the initial angular position. Some differences are noticed, however, between the experimental results and those obtained through the simulation. These differences could be attributed to the chosen values of the viscous and dry friction parameters. A future work is underway, which uses this model to identify the friction parameters of the joints.