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Kinematic and dynamic modelling of a cable-driven parallel robot used to control an inverted pendulum. Development of a controller to stabilise the pendulum in its vertical unstable position by means of linear quadratic regulators. Validation of the controller in simulation, so it can maintain the equilibrium position despite the appearance of u…
This repository offers an exhaustive resource for the kinematic analysis of mechanical systems. It encompasses a comprehensive suite of tools and documentation for analyzing position, velocity, and acceleration of various mechanisms.
This repository contains my final project for Mechanical and Aerospace Engineering 162A, Mechanisms and Mechanical Systems, taken with Prof. Jonathan Hopkins, Spring 2021