objective: to investigate the friction of rabbit’s knee joint with designed pendulum friction tester to diagnose and evaluate different pathological and therapeutic conditions following haemarthrosis, osteoarthritis, and other joint disorders. materials and methods: friction coefficient of 10 adult male albino rabbit’s joint (5 right and 5 left knees) weighted 1.59 ± 0.27 kg, after designing a...

This paper summarizes the mechanical and control design concepts of an inverted or unstable pendulum where stabilization is achieved by a moment exchange generated by a controlled symmetric rotation of a rotational inertia attached to the pendulum. The proposed design of the pendulum has a fixed bottom rotation or point of support as opposed to the usual vertically or horizontally moving point ...

this paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. our rotary inverted pendulum is supported bya pivot arm. the pivot arm rotates in a horizontal plane by means of a servomotor. the opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. a pendulum is suspended at thejoint. the task is to design a contro...

We investigate several regions of parameter space of a driven pendulum system over which specific phenomena occur. The pivot on which the pendulum hangs is driven in the vertical direction by a periodic force A cos(ωt). We reuse code relevant to the driven pendulum system in SICM: Section 1.6.2 contains the Lagrangian for a driven pendulum in general, Section 1.7 provides for the specific case ...

In order to improve the energy capture efficiency of a multi-pendulum wave energy converter, a mathematical model of the pendulum structure has been built. The final structure parameters of the pendulum have been obtained by using genetic algorithm based on the numerical simulation results of the pendulum structure optimization. The results show that under obtained structure parameters the prop...

The string pendulum consists of a mass attached to the end of an inextensible string which is fastened to a support. Applying an external forcing to the pendulum’s support is motivated by understanding the behavior of suspension bridges or of tethered structures during earthquakes. The forced string pendulum can go from taut to slack states and vice versa, and is capable of exhibiting interesti...

Generally the inverted pendulum is unstable, because the pendulum will fall downward due to the gravitational force acting on mass of the pendulum. Keeping the pendulum at vertically inverted position, the position of DC motor shaft needs to be controlled using closed loop analysis. For closed loop analysis, feedback or input device such as encoder is used. To control and set the pendulum at de...

In this paper we derive a nonlinear control law for stabilization of the Furuta pendulum system with the pendulum in the upright position and the rotating rigid link at rest at the origin. The control law is derived by first applying feedback that makes the Furuta pendulum look like a planar pendulum on a cart plus a gyroscopic force. The planar pendulum on a cart is an example of a class of me...

A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the spherical 2D pendulum models as special cases. The case where the rigid body is asymmetric and the center of mass is distinct from the pivot location leads to t...

The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only one that de...