Abstract
In the two previous systems, i.e. the inverted pendulum in Chapter 3 and the pendubot in Chapter 5, gravitational forces are present in both systems, since the pendulum and the pendubot move in a vertical plane. On the other hand, a pendulum or a pendubot moving in a horizontal plane has no potential energy. No gravitational forces are applied on the system.
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© 2002 Springer-Verlag London
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Fantoni, I., Lozano, R. (2002). The planar flexible-joint robot. In: Non-linear Control for Underactuated Mechanical Systems. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-4471-0177-2_8
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DOI: https://doi.org/10.1007/978-1-4471-0177-2_8
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1086-6
Online ISBN: 978-1-4471-0177-2
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