This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism. better known as a five-bar mechanism. The whole mechanism has four degrees of freedom. but it has only two actuators and so it is an under-actuated system. https://www.ashleyshomestores.shop/product-category/outdoor-rectangle-cocktail-table/
Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
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