Introduction

Consider the manipulator equation of an open-chain \(n\)-DOF robot [1], [2]:

\[ \mathbf{M(q)\ddot{q}+C(q,\dot{q})\dot{q}+g(q)}=\boldsymbol{\tau}_{in} \tag{1} \] The notations are self-explanatory. We assume no external forces applied to the robot.

In this paper, we introduce the concept of

Example — Acrobot

References

[1]
K. M. Lynch and F. C. Park, Modern robotics. Cambridge University Press, 2017, p. 278.
[2]
R. M. Murray, Z. Li, and S. S. Sastry, A mathematical introduction to robotic manipulation. CRC press, 2017, p. 190.