Dynamic model analysis for acceleration driven three-link acrobot

The dynamic model of an acceleration driven three-link acrobot is analyzed by using mechanism and data based methods.The rigid body dynamic and motor driven models are given via mechanism analysis and the pure delay model is indicated by the acceleration pulse response curve.The three model components are integrated into a complex model structure for the dynamic model of the whole three-link acrobot.An improved generation algorithm(GA)is used to identify the parameters of the integrated model.The outputs of the model and robot are compared and the factors causeing the errors are discussed.