Link Mechanisms

• class Link
• class Link_Cylinder
• class Open_Mechanism_Two_DOF
• class Closed_Mechanism_Two_DOF

• searching a specified value in ascending ordered column vector

Open Link Mechanism

• 2DOF open mechanism driven by external torques
• equation of motion of 2DOF open mechanism driven by external torques

• PD control of 2DOF open mechanism
• equation of motion of 2DOF open mechanism under PD control

Closed Link Mechanism

• PD control of 2DOF closed mechanism
• equation of motion of 2DOF closed mechanism under PD control