2022
Modelling and control of a variable-length flexible beam on inspection ground robot
Giancarlo D'Ago, Marie Lefebvre, Luca Rosario Buonocore, Fabio Ruggiero, Mario Di Castro, Vincenzo Lippiello
ICRA 2022poster
Stabilising an inverted pendulum on a cart is a well-known control problem. This paper proposes the mechan-ical and control design for solving the oscillation problem of a variable-length flexible beam mounted on a mobile robot. The system under consideration is the robot PovRob, used at the Europea…