2002/12/11 by G. A. Monerat, Monerat, G. A., E. V. Correa Silva +3
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #I.2.9 #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.cs/0212027
15 pages, 5 figures
arxiv created 2002/12/11 · openalex publication_date 2002/12/11 · arxiv updated 2009/11/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions) in phase space are determined. Under suitable conditions, the presence of constant torques does not change the number of fixed points, and preserves the topology of orbits in their linear neighborhoods; two equivalent invariant manifolds are observed, each corresponding to a saddle-center fixed point.