An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

<div>Block diagram of the adaptive backstepping control algorithm. <svg height="7.35473pt" id="M177" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -7.0048 7.75925 7.35473" width="7.75925pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M573 255C573 407 448 530 294 530S15 407 15 255S140 -20 294 -20S573 103 573 255ZM520 280H323V484C426 471 508 386 520 280ZM265 280H68C80 386 162 471 265 484V280ZM265 26C162 39 80 124 68 230H265V26ZM520 230C508 124 426 39 323 26V230H520Z" id="g117-68"></path></g></svg> is the summation sign.</div>

Shock and Vibration

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Figure 8

Figure 8: An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control 