2 DOF Ball Balancer
The Quanser 2 DOF Ball Balancer module is a vision-based control experiment designed to teach intermediate to advanced control concepts and to demonstrate real-world control challenges.
2 DOF Inverted Pendulum/Gantry
Item Number:
782474-01
Introduce Advanced Principles of Robotics
The 2 DOF Inverted Pendulum/Gantry module is ideal to introduce more advanced principles of robotics. You can use it to demonstrate real-world control challenges encountered in aerospace engineering applications, such as rocket stabilization during takeoff.
The 2 DOF Inverted Pendulum module attaches to two Rotary Servo Base Units.
The 2 DOF Inverted Pendulum module consists of an instrumented 2 DOF joint to which a 12-inch rod is mounted. The rod is free to swing about two orthogonal axes. The module is attached to two Rotary Servo Base Units. Their servomotors’ output shafts are coupled through a four-bar linkage, i.e., 2 DOF Robot module, resulting in a planar manipulator robot. The 2 DOF Joint is attached to the end effector of the robot arms.
The goal of the 2 DOF Inverted Pendulum experiment is to command the position of the 2 DOF Robot end effector to balance the pendulum. By measuring the deviations of the vertical pendulum, a controller can be used to rotate the servos, so that the position of the end effector balances the pendulum.
Features
- 2 DOF Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
- Inverted pendulum mounts at the end of the 2 DOF Robot linkage arms
- Configurable for two experiments: 2 DOF Inverted Pendulum and 2 DOF Gantry (pendulum mounts on top or below the linkage arms)
- 2 DOF Joint allows the pendulum to rotate in both orthogonal axes
- High-resolution encoders to sense pendulum link angles
Courseware
Modeling Topics
- State-space representation
Control Topics
- Linear-quadratic regulator
Workstation Configuration
The following additional components are required to complete your workstation, and are sold separately:
For Simulink
- QUARC® add-on for MATLAB®/Simulink®
- Two Rotary Servo Base Units
- Quanser VoltPAQ-X2 linear voltage amplifier
- One of the following DAQ devices:
- Quanser Q8-USB
- Quanser QPIDe
For LabVIEW
- Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
- Two Rotary Servo Base Units
- Quanser VoltPAQ-X2 linear voltage amplifier
- One of the following DAQ devices:
- NI CompactRIO with two Quanser Q1-cRIO modules
- NI myRIO with Quanser Terminal Board
- Quanser Q8-USB
- Quanser QPIDe
More Information
Related Products:
QUBE-Servo 2
The Quanser QUBE™-Servo 2 is a fully integrated, modular servomotor lab experiment designed for teaching mechatronics and control concepts at the undergraduate level.
Rotary Double Inverted Pendulum
The Rotary Double Inverted Pendulum module is ideal to introduce intermediate and advanced control concepts, taking the classic single inverted pendulum challenge to the next level of complexity. You can use it to demonstrate real-world control challenges related, for example, to takeoff stabilization of a multi-stage rocket. The Rotary Double Inverted Pendulum module attaches to the Rotary Servo Base Unit.
