pendulum_control

This package simulates an inverted pendulum connected to a motor with a fixed arm and controls it using torque into a stable upright position. The considered angle is the angle between the rod and the vertical axis. It is zero at the steady-state free motion of the rod.

Nodes:

• simulator: this node simulates the pendulum motion and send visualization commands to rviz. Here are the parameters of this node
  • M: mass of the ball
  • m: mass of the rod
  • l: length of the rod
  • b: damping coefficient considered for the angular friction of the rod
• controller: this node controls the pendulum motion using a PD controller
  • Kp: proportional gain of the controller
  • Kd: derivative gain the controller
  • reference: reference angle of the rod (default value pi)
  • b: damping coefficient considered for the angular friction of the rod

Setup:

No non standard libraries used.

Launch:

roslaunch pendulum_control pendulum.launch

Sample: