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Feb11-13, 11:36 AM
P: 62
I am trying to model the following in a computer simulation:

The Acrobot

However I am struggling to understand which variables stand for which. In particular, the variables not defined are:
  • d1 and d2
  • phi1 and phi2

Another problem is which order are these calculated in to update the system? d1 and d2 first (as the angular acceleration relies on these).
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