Exercises with a Triple Pendulum
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- čas přidán 23. 12. 2018
- This video features transitions between the equilibria of a triple pendulum and a limit cycle control. The controller was designed by the Control Engineering Group at the TU Ilmenau and is documented in B. Jahn, L. Watermann, and J. Reger. On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation. Automatica, Vol. 125, March 2021, 109403.
doi.org/10.1016/j.automatica....
An exemplary python code is available here: colab.research.google.com/dri...
For further information visit www.tu-ilmenau.de/regelungste... or contact reger@ieee.org
Music: "Unpleasant Situation" by Adex (CC BY-SA 3.0) - Věda a technologie
I have no clue how I ended up here, but this is amazing! congrats to the engineers!
I know the feeling, getting lost and CZcams and finding a gem.
Amazing, I can feel the pain behind the success: endless hours modelling, programming, calibrating... Just wow
Nuts, just absolutely crazy. Absolute masterpiece of either inverse kinematics or looped control.
What the hell? How does this not have more views?
The great algorithm has found yet another gem.
Describing this as an Amazing engineered mechanism would be an absolute understatement.
I think this might just be the most beautiful thing I have ever seen...
That's insane
Fascinating for me, but not a single friend to share this video with who could appreciate and understand the smartness in it. ☹
Don't worry I got you... I was in absolute AWE!!! I really did think this kind of physics was impossible... but then I remembered machines..
That's absolutely amazing, especially when you can see how unstable the system is with a press of the button. Just looked like the button turned gravity back on.
When I say this is the most amazing thing I've ever seen _ever,_ I'm dead serious.
My jaw physically dropped at least 3 times during the video.
Insane work!
You’d think they’d have the knowhow to place the camera on the unobstructed side
Thats the problem for any engineer.
They dont think as USER or a repair man.
Thats why every mechanic is like "who designed this nonsense ?" and users are like "Why does it have 1 button to do 10 things ?"
@@tonycstech Why does it have 1 button to do 10 things? because the manager said we can't afford 10 buttons on the budget, and Marketing said it 'wouldn't look elegent enough'. Why is it so hard to repair? because we couldn't fit screws into the budget and had to use plastic clips in the molding. Trust me, having to take apart a product repeatedly for R&D / testing is a pain with clips, I'd love to make every product bullet-proof and made for a 100 year lifespan of being thrown about, but other constraints come in sadly...
It's stupid to say this. Specially for a 3min video just showing end result. Do you really think people capable of doing this didn't think about it?
@@domergan6195 and yet here we are
I can’t believe this is the video that makes me gasp. I just didn’t think it was possible, but that robot makes it look easy.
My thoughts exactly!
This video will be recommended to everyone
This is insanely cool.
Pov: you dont have a f*ckin clue what is going on, but you are happy.
The last scene where you show how smooth those joints are is incredible
They have their control dialled in! Very impressive
today's the day it seems...
Today, you and we all are being blessed by the algorithms of youtube lmao
I can't complain!
Great video!
This is friggin awesome!
the power of math
Man! This is so smooth!
i cant even imagine what the people are feeling who made this
Those pendulums are cooler than any circus act
thats pretty damn cool
And then it had to show off it's robot-y skills with that pendulum spin. I KNOW I'M JUST A HUMAN, HAROLD. I'll bow down to your robot overlords, okay?
I'm mesmerized
Wow, thats so cool
See you in 2100 when this is recommended
Amazing!
thats how acrobats gets replaced huh?
Here bevore it went viral
wow you must deserve a nobel prize for that
Thats's just crazy!
imoresionante!!
OK WTF !!
Thats unreal!!
Like how even
awesome
Wow
nice
Noice!
Very Very Slick. How many flops are required for this level of control?
Brilliant stuff. What could be some industry / real life applications of this sort of control precision?
my mind goes to medicine
@@1imag337 swinging an a slapping in that liver, in the transplant room with a pendulum robot arm..? 😂
@@MV-vv7sg that's too bad for the patient...
This is just an exercise, but control is used literally everywhere and has been for over a century.
When you're smart enough to conquer a seriously difficult control system but not enough to build the machine facing away from the wall
It's probably an enclosure for safety. Too bad they couldn't make it less visually distracting though.
2:56
When uncle on a wedding shows you at 3a.m how sober he is
yess
most under watched vid on YT
2:03 Math makes the impossible ... statistically possible 3:08 this is what baby elephants do with their trunks
Wow this video really blew up.
Could a computer go in reverse with a tractor and 2 2 axle trailers?
🤩
How can you use a triple pendulum?
lol nice
cooool......sehr sehr cool. und danke für´s einstellen!
Wow. How many sign/reference frame errors did you find in your model while getting this running? lol
Link is broken for the pendulum. Would be interesting to see the code.
The length of the segments gets longer. Seemingly in destinct ratio (I didn't measure it, just by looks). Does this only work with these particular lengths of segments?
Weight and friction variables should play a role, base on the little I know about physics.
This setup makes it easier you could theoretically used any length, but you would need to sample inputs infinitely often with infinite precision, make calculations instantaneous and have infinite amount of force that can me applied by motors and in some proportions there would still be ambiguity that would result in inability to transition from one state to other accurately on first attempt. But there is still reasonable range of lengths that can be used and still be within of real world parameters of hardware.
This is insane. Positively stupid. How in the world to you even begin to work on something like this.
Hello, can you tell me whether the speed mode used is pv mode or csv mode
Actually we are commanding the desired velocity at the belt motor which has an underlying velocity controller.
It would take a human 10 years of practice to learn this, insane.
O jaciężciep%?%%!@ę... miałem takie na laborce, ale pojedyncze, nie potrójne. W zasadzie, to byłem przekonany (jak widać niesłusznie), że to nawet teoretycznie, matematycznie jest nie do ogarnięcia dla trzech przegubów. Szacun dla programisty w chuj.
How are the encoders in the arms communicating with the base if the arms can rotate freely?
The joints have hollow shafts and fiber optic cables integrated into them. The angle values are transmitted via infrared diodes and receivers via these fiber optic cables from the outer arms to the central joint on the carriage and from there via cables to a circuit board that converts it into an RS-422 signal that can be evaluated by the dSpace encoder input.
@@controlengineeringgroup-tu6942 that’s awesome. I’m completing a reaction wheel inverted pendulum right now and I’d like to pursue this eventually
And then it straightened up the cable hanging from the other side.
Amazing! Is a quadruple pendulum possible?
The control system would then be even more sensitive to parametric uncertainty, so not likely.
Is there 3 sensors for measuring angular positions of each bar ?
Each joint comprises a sensor for measuring the angular position.
@@controlengineeringgroup-tu6942 Thanks for your fast answer ! :) Are the sensors wireless ?
@@theometzger7581 No, therefore the cable.
@@controlengineeringgroup-tu6942 okay thanks for your answer 😊
Angles measured for feedback at joints w.r.t. ground frame or in moving frame?
Amazing can you publish code or more details?
www.sciencedirect.com/science/article/pii/S0005109820306051
@@controlengineeringgroup-tu6942 Thanks!
Angles measured at joints are w.r.t ground frame or in moving frame....? For control
Encoders are pretty ignorant about coordinate frames, so measure the limb lengths and calculate a bit ...
Bro, what's up with that hand near the end? It might just be a gloved human hand, but something seems off...
He presses the emergency stop
It looked like a gloved hand, sans hand.
yt algorithm in 2018: . . .
yt algorithm in 2019: . . .
yt algorithm in 2020: . . .
yt algorithm in 2021: ITS TIME
Tu byłem. Tony Halik 2021.
zamknij morde
@@xoskvr Tu byłem. Tony Halik 2021.
@@dracov6664 zamknij ryj
@@xoskvr Tu byłem. Tony Halik 2021.
@@dracov6664 ja bylem w twojej starej, żonie i córce
This video is just hiding here since 2018, like no big deal who cares anyway
same!
I bet you have to understand the conservation of angular momentum to build this
That's soooo damned impresssive.. only 53k views too... this is viral kind of material... phwooooar... i thought this kind of physics was bornerline unimaginable.
Can you tell me an example use of this machine in real world other than being the material for a satisfying video? For example, as I know, the robot that keeps a bouncy ball on its surface is modified version of rocket propulsion system.
The same sort of control algorithms would be used for accurately backing up a semi truck with multiple trailers.
As the other guy said. The control algorithms are ubiquitous across all tech. You can find PIDs in temp control systems, any kind of pressure control etc. Even espresso machines can have them.
@@AJMansfield1 thank you.
mmmmmmmmmmm robot
How
Reference generation and feed-forward control based on non-linear model, feed-back control based on time-varying linearization about reference (time-varying LQR and Kalman-filter). For more details send email to reger@ieee.org
@@controlengineeringgroup-tu6942 Perfect
@@controlengineeringgroup-tu6942 Of course. Obvious really.
does it's always work with every length proportion and can we stack it to any stage we want?
yes it is proven that inverted multi-pendulum is self-stabilised with just high frequency linear motion - but the frequency goes up very quickly with stages - you need very fast motor just to handle 4 stages, note that one stage here is actually shorter:
czcams.com/video/zoWsFyhRnE8/video.html
Chapo
...
This makes me feel sick somehow
Is error in brain, I remove for you, no charge.
too bad you don't film it from the front... :(
But why?
It's super useless.
You're useless
you have to see this more as a showcase for the application of control theory because it's a very unstable nonlinear system but that you can model very well. Therefore you can quite easy compare it to your theoretical model and see if your assumtion are correct. Nonetheless the the contol theory behind this "useless project" is actually very useful for example you need quite similar things to land a rocket or many other things.
@@Redafto Exactly, the solution of the problem is insignificant, but the knowledge to solve is very useful.
The method can make a robot blanace itself is useless?
What a brainless person
The guy has the lord terry davis as his profile pic, mean while he doesnt understand chaotic theory and how having insanely high precision and highly accurate mechanical components are useful in chaotic systems. basically, this testing apparatus is a perfect demonstration of the precision and accuracy of the electrical components, not to mention its a perfect demonstration of theory (signal processing, simulation/perdition, speed response)