The 2 DOF Inverted Pendulum 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. Using this experiment, students learn how to:
When mounted on the Rotary Servo Base Units, this module can be reconfigured to perform 2 DOF Gantry experiments. The challenge of this experiment is to design a feedback controller that dampens out the swinging of a single pendulum load suspended from a 2 DOF joint. The 2 DOF Gantry experiment demonstrates real-world applications of the gantry such as crane lifting and moving a heavy payload, or a pick-and-place gantry robot in an assembly line.
In addition to teaching controls, the 2 DOF Inverted Pendulum / 2 DOF Gantry can be used for research in various areas, including robust control and intelligent control.
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.
The 2 DOF Inverted Pendulum module comes with Quanser-developed courseware. The Laboratory Guide, accompanied by the quick start resources, a comprehensive User Manual, pre-designed controllers and a system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.
Topics included in the Quanser-developed courseware:
To set up your 2 DOF Pendulum workstation, you need additional components. Quanser engineers recommend:
¹ alternatively, you can use QPIDe or any equivalent NI DAQ device supported by QUARC
² alternatively, you can use two VoltPAQ-X1 amplifiers
³ NI cRIO-9074, or NI cRIO-9024 with cRIO-9113 chassis
4 NI PCIe-6351 or other NI DAQ device with 4 encoders supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q8-USB, or QPIDe