Research Article
An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control
Table 1
Physical parameters of the electromechanical system.
| | | Parameter | Value | Units |
| | Spherical proof mass | Mass: | 0.5 | kg | | Radius: | 0.01 | m |
| | Rectangular coil | Thickness: | 0.05 | m | | Height: | 0.2 | m | | Resistance: | 20 | Ω | | Number of coil turns: | 500 | 1 | | Magnetic field intensity: | 1 | T | | Proportion of the coiled rod: | 0.2 | 1 | | Coil mass: | 0.1 | kg |
| | Rod | Viscous friction coefficient: | 0.1 | N s/m | | Mass: | 0.4 | kg | | Length: | 0.5 | m |
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