RESEARCH PAPERS: Papers on Control Mechanics

Controlled Chain of Pendulums

[+] Author and Article Information
G. Bojadziev

Department of Mathematics and Statistics, Simon Fraser University, Burnaby, B.C. V5A 1S6, Canada

J. Dyn. Sys., Meas., Control 111(4), 623-625 (Dec 01, 1989) (3 pages) doi:10.1115/1.3153104 History: Received March 08, 1988; Online July 21, 2009


A robotic manipulator with n links working in a vertical plane is modelled mathematically as a chain of pendulums linked together by rotational joints subjected to control torque. A control of motion program is designed so that the chain avoids an undesirable region.

Copyright © 1989 by ASME
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