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nzur
Commentator

Join Date: Apr 2008
Posts: 96
Good Answers: 1

3D Linear Inverted Pendulum

03/31/2011 12:46 AM

Hey folks,

I got a question about deriving an equation of motion of 3D pendulum.

I tried to understand but it's not so easy to catch up.

How the jacobian is used in eq.(4) in the article ?

(inverse- transpose of jacobian)

It 's been tough time for me to understand how the equation 4 is derived.

Please let me know, give any comment for me. thanks in advance!

Please see this article:

http://staff.aist.go.jp/k.kaneko/publications/2001_publications/5.pdf
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Usbport
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Engineering Fields - Optical Engineering - Member Engineering Fields - Engineering Physics - Member Engineering Fields - Systems Engineering - Member

Join Date: Apr 2010
Location: Trantor
Posts: 5363
Good Answers: 647
#1

Re: 3D Linear Inverted Pendulum

03/31/2011 7:41 AM

Isn't that just a general transformation matrix (?):

http://en.wikipedia.org/wiki/Rotation_matrix

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