Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism, better known as a five-bar mechanism. The whole mechanism has four degrees of freedom, but it has only two actuators and...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/60027 |