Link Mechanisms
Open Link Mechanism

• PD control of 2DOF open link mechanism
• equation of motion of 2DOF open link mechanism under PD control
• definition of 2DOF open link mechanism
• tip point coordinates with gradient vectors and Hessian matrices
• calculating inertia matrix and generated torques
• drawing 2DOF open link mechanism

Closed Link Mechanism

• PD control of 2DOF closed link mechanism
• equation of motion of 2DOF closed link mechanism under PD control
• definition of 2DOF closed link mechanism
• drawing 2DOF closed link mechanism