Abstract
This paper investigates the giant swing motion and control of a 3-DOF link horizontal bar mechanism. Five types of free gaint swing motion are derived for an experimental setup by the shooting method. To evaluate the stability of the giant swing motion, a new criterion is proposed. It is shown that the continuous-time configuration based control can stabilize some types of giant swing motion. Sets of six feedback gains in the continuous-time configuration based control are successfully determined with Genetic Algorithm for various giant swing motions.
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