

2 DOF Inverted Pendulum/Gantry
Introduce advanced principles of robotics
The 2 DOF Inverted Pendulum/Gantry 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.
Learn More- 2 DOF Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
- Inverted pendulum mounts at the end of the 2 DOF Robot linkage arms
- Configurable for two experiments: 2 DOF Inverted Pendulum and 2 DOF Gantry (pendulum mounts on top or below the linkage arms)
- 2 DOF Joint allows the pendulum to rotate in both orthogonal axes
- High-resolution encoders to sense pendulum link angles
Modeling Topics
- State-space representation
Control Topics
- Linear-quadratic regulator
The following additional components are required to complete your workstation, and are sold separately:
For Simulink
- QUARC® add-on for MATLAB®/Simulink®
- Two Rotary Servo Base Units
- Quanser VoltPAQ-X2 linear voltage amplifier
- One of the following DAQ devices:
- Quanser Q8-USB
- Quanser QPIDe
For LabVIEW
- Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
- Two Rotary Servo Base Units
- Quanser VoltPAQ-X2 linear voltage amplifier
- One of the following DAQ devices:
- NI CompactRIO with two Quanser Q1-cRIO modules
- NI myRIO with Quanser Terminal Board
- Quanser Q8-USB
- Quanser QPIDe
Product Details
Mass of 4-bar linkage module | 0.335 kg |
Mass of single link | 0.065 kg |
Length of a single bar in linkage | 0.127 m |
Mass of pendulum (with T-fitting) | 0.127 kg |
Mass of 2 DOF hinge with 2 encoders | 0.30 kg |
Full length of pendulum (pivot to tip) | 0.3365 m |
Link moment of inertia about cog | 8.74 x 10-5 kg.m² |
Link moment of inertia about pivot | 3.49 x 10-4 kg.m² |
Encoder sensitivity on 2 DOF IP joint | 0.0879 deg/count |