The balancing act of an inverted pendulum with a robotic manipulator i
s a classical benchmark for testing modern control strategies in conju
nction with fast sensor-guided movements. From the control design pers
pective, it presents a challenging and difficult problem, as the syste
m is open-loop instable and includes nonlinear effects in the actuator
s, such as friction, backlash, and elasticity. In addition, the necess
ity of a sensor system that can measure the inclination angles of the
pendulum contributes to the complexity of the balancing problem. The p
endulum is projected onto the xz and yz planes of the inertial coordin
ate system, These projections are treated independently from each othe
r and are controlled individually by a state-space controller in the x
and y axes, respectively, The nonlinearities of the robot are compens
ated by using inverse dynamics and inverse kinematics, A specially dev
eloped sensor system allows the contactless measurement of the inclina
tion angles of the pendulum, This system consists of a small magnet, p
laced at the bottom of the pendulum, and Hall-effect sensors placed in
side the end effector.