An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Figure 5

Maximum amplitude of the electrical and mechanical part with respect to the excitation frequency and the amplitude of the impulsive force . In (a) and (c), the dot line represents the free pendulum case (case studied in Section 2 and Figure 2) and the solid line represents the case with the impulsive force. for (a) and (c), while for (b) and (d).

(a)

(b)

(c)

(d)