This repository contains code associated with the paper "Maneuver-based control of the 2-degrees of freedom underactuated manipulator in normal form coordinates" (Link).
The code is written in Python 2.7.
It depends on the packages numpy, scipy and matplotlib which do all ship with python distributions like
winpython or Anaconda
To run the default maneuver use the command python main_maneuver_control.py.
This file can be easily adapted to perform other equilibrium transitions.
