辅导案例-MECH 483
MECH 483 Robotics – 2020
Term Project
Due: Noon (12:00PM) on July 2nd, 2020 (Wednesday)
* Submit your term project report on Blackboard assignment tab.
* Zip your matlab(.m) and ADAMS(.bin) files and upload it together with report.

This is a 2-DoF system also known as “Cartpole”. A uniform rod is attached to a box by a revolute
joint which is un-actuated. The box moves along a track, so it is considered attached to the ground
by a transitional joint. The goal of this system is to prevent it from falling over by applying an
external force on box.


(Extra) 1. Derive the equations of motion for this system.
Hint.
̈ =
+ (
− ̇
2
+
)
(
4
3 −
2
+
)
̈ =
− (̇
2 − ̈)
+



2. Without external force( = 0), calculate the behavior of the system and plot and over time
by using matlab( 0 ≤ ≤ 5, = 0.01) . Submit your matlab code and graph. For
comparison with ADAMS graph, must be bounded in − and (− < < ).

3. Develop ADAMS simulation model of the system and plot and over time with the same
conditions given in problem 2 ( = 0, 0 ≤ ≤ 5, = 0.01).

4. Compare and discuss the results of two programs(ADAMS and MATLAB).

(Extra) 5. To support the rod straight and stable, the external force function (, ̇) with feedback
control of and ̇ (PD control) is given as (, ̇) = −100 − 10̇. Plot and over time when
(, ̇) is applied to the box ( = (, ̇)) using MATLAB and ADAMS. Compare and discuss the
results.


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