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The experimental multi-arm pendulum on a cart: A benchmark system for chaos, learning, and control
Kadierdan Kaheman1, Urban Fasel2, Jason J Bramburger3
1Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, United States of America.
Hardwarex
|August 28, 2023
Summary
This study presents an open-source, high-performance multi-link pendulum on a cart system. The detailed design and operational guide enable reproducible research in dynamical systems, modeling, and control.
Area of Science:
- Mechanical Engineering
- Dynamical Systems Theory
- Control Theory
Background:
- Pendulum systems, including single, double, and triple pendulums, have been used for over 400 years to study dynamical behavior.
- These systems exhibit behaviors ranging from simple harmonic motion to chaotic dynamics, serving as benchmarks for complex phenomena.
- Pendulums are crucial for designing and testing linear and nonlinear control strategies, with complexity increasing with more arms.
Purpose of the Study:
- To provide extensive, documented designs for constructing and operating a high-performance, multi-link pendulum on a cart system.
- To address the gap in the literature regarding comprehensive design, construction, and operational guidance for such experimental setups.
- To create a flexible experimental system for benchmark problems in dynamical systems modeling, system identification, and control.
Main Methods:
- Detailed design and construction protocols for a multi-link pendulum on a cart system.
- Development of an open-source platform including 3D CAD drawings, tutorial code, and data.
- Exploration of remote operation capabilities to enhance global accessibility.
Main Results:
- A highly flexible experimental system for studying complex dynamical behaviors.
- Comprehensive documentation facilitating reproducible research in dynamical systems and control.
- An open-source framework promoting wider access and collaboration among researchers worldwide.
Conclusions:
- The developed multi-link pendulum on a cart system offers a valuable, accessible resource for scientific research.
- Open-sourcing the system design and data promotes reproducibility and accelerates advancements in dynamical systems and control.
- Future extensions, such as remote operation, will further democratize access to this powerful research tool.
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