Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems

Figure 3

Simulation results on dynamics: 𝐱(0)=(0,0,0,0), 𝜏=0, and 𝛾=𝛽=45; left column: no friction; right column: friction coefficients, 𝑑_𝑥=0.05, 𝑑_𝑟=0.03.

(a)

(b)