Supplemental Material: Nonlinear Control of Mechanical Systems with an Unactuated Cyclic Variable

MPEG Movies of: stabization of two links; tracking and stabilization of three links; ballistic motion of two links without passing through a singularity, and with passing through a singularity
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(Two links, 0.6 Mb) (Three links, 3.3 Mb) (Two links, ballistic, 1.5 Mb) (Two links, ballistic, 2.2 Mb)