LT-MC302 2-DOF Inverted Pendulum

Labtronic offers the 2 DOF inverted pendulum trainer, a compact bench-top system designed to teach advanced robotics concepts and explore real-world control challenges. Ideal for applications such as demonstrating rocket stability during takeoff, this trainer highlights control issues relevant to aircraft engineering. The system includes a 2 DOF robot module featuring an instrumented joint and pendulum rod that swings freely around two orthogonal axes. Mounted on two rotary servo base units, a four-bar linkage supports the 2 DOF joint at the end-effector, creating a planar manipulator robot with two actuated and three unactuated revolute joints. Dual encoders measure the pendulum rod’s angles.

Learning Objectives:

Demonstrates modeling of State-space representation.
Provides familiarization with control using a linear-quadratic regulator (LQR).

Introduces advanced robotics concepts using a 2 DOF inverted pendulum system.
Consists of an instrumented 2 DOF joint with a freely moving rod along two orthogonal axes.
Mounted on two rotary servo base units.
A planar manipulator robot is formed by connecting the servo motor output shafts with a four-bar linkage.
The 2 DOF joint is attached to the robot arms’ end effector.
Experiment focuses on controlling the end effector's position to balance the pendulum.
Enables pendulum rotation about both orthogonal axes.
Uses high-resolution encoders to sense pendulum angles.
Controller adjusts servo rotation based on pendulum deviations to maintain balance.