Research on the Anti-Swing Control Methods of Dual-Arm...
Let r be the radius of the transmission line, and fmax be the maximum static friction between the transmission line and the walking wheel. The torque balance equation can be derived for Formula (7) as follows: 𝑚3𝑔·𝑙10+𝑚3𝑔·𝑙11+𝐹𝑤·𝑙8·cos𝛽=𝑓max·𝑟+𝑚...