Consider a two-link robot with an actuator at the shoulder (link 1) and no actuator at the elbow. It called the Pendubot. It is shown that depending on the parameter of the controller the number of connected components could be equal an arbitrary positive constant. We show how to minimize them to 2 components, one of which is the desired attractive set V/sub 0/ and another is an equilibrium being outside of the set V/sub 0/.
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机译：考虑一个双连杆机器人，肩部（连杆1）处具有致动器，并且肘部没有致动器。它叫做拼图。结果表明，根据控制器的参数，连接的组件的数量可以等于任意正常常数。我们展示了如何将它们最小化为2个组件，其中一个是所需的有吸引力集V / Sub 0 /，另一个是设置V / SUB 0 /外部的平衡。
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