PD Control of a One Link Arm

t1

x

y

I

Torque = I * (d2/dt) t1

We want the arm to start

at rest at some initial value

of t1 and end up at some final

value of t1 (also at rest)

Choose the torque such that

Torque = k1 * (t1 - t1f) + k2 * (d/dt) t1

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