An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Figure 9

Times histories of the parameters (a) and (b), the mechanical error (c), and the function (d) in the case where the impulsive contact force is neglected (). Graph (c) represents in grey the mechanical error without the control and in black the mechanical error with the applied control with and and the parameters of Figure 5.

(a)

(b)

(c)

(d)