Dynamic modeling and simulation of an underactuated system

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dc.contributor.authorDuarte Madrid, Juan Libardospa
dc.contributor.authorOspina Henao, P Aspa
dc.contributor.authorGonzález Querubín, Espa
dc.coverage.campusCRAI-USTA Bogotáspa
dc.date.accessioned2019-12-04T14:38:58Zspa
dc.date.available2019-12-04T14:38:58Zspa
dc.date.issued2017-06-13spa
dc.description.abstractIn this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify the results obtained, a comparison the CAD model simulated in the environment SimMechanics of MATLAB software with the mathematical model who was consisting of Euler-Lagrange's equations implemented in Simulink MATLAB, solved with the ODE23tb method, included in the MATLAB libraries for the solution of systems of equations of the type and order obtained. This article also has a topological analysis of pendulum trajectories through a phase space diagram, which allows the identification of stable and unstable regions of the system.spa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdfspa
dc.identifier.doihttps://doi.org/10.1088/1742-6596/850/1/012005spa
dc.identifier.urihttp://hdl.handle.net/11634/20121
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dc.rightsAtribución-NoComercial-CompartirIgual 2.5 Colombia*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/co/*
dc.subject.keywordUnderactuated systemspa
dc.subject.keywordDynamic modelingspa
dc.subject.keywordSimulationspa
dc.titleDynamic modeling and simulation of an underactuated systemspa
dc.type.categoryGeneración de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicosspa

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