An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Figure 4

Electrical and mechanical response with respect to time in the presence (full line) and in the absence (dashed dotted line) of the impulsive contact force. With the parameters of Figure 2 and (graphs (a) and (c)), (graphs (b) and (d)).

(a)

(b)

(c)

(d)