An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Figure 2

Times histories (graphs (a) and (c)) and the maximum amplitudes of the current and angular displacement versus the input frequency in unit of (graphs (b) and (d)) with the parameters of Table 1 and for ( for graphs (a) and (c)). The full black line represents the results from numerical simulation whereas the dot line is for the analytical derivation.

(a)

(b)

(c)

(d)