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Hardware Experiment	Servo-Motor Module	DSP-Target Controller	Link 1	Link 2	Inertial load Control Tuner
Swing up and balancing control of rotary inverted pendulum	●	●	●
Swing up and balancing control of arm-driven inverted pendulum	●	●		●
Position Control	●	●			●
Speed Control Mode	●	●			●
Haptic Control	●	●			●

1 . DSP-Target Controller：
High performance 150MHz TI-F2812DSP and MATLAB/Simulink auto-code supported.

2 . Inertial Load Control Tuner：
　‧ Φ 60mm,Weight 75g
　‧ Supports position/speed/haptic control mode.

3 . Servo-Motor Module Link 1/2
Including both M5068-24V-6K motor and 500 Pules/Rev. Encoder.

‧ Link 1：Rotary Inverted Pendulum
　※ Arm
　　→ length: 16cm, Weight 60±5g
　※ Pendulum
　　→ length: 16cm, Weight 25±3
　※ Encoder:
　　→ 500 Pules/Rev. Weight 58±3g

‧ Link 2：Double-Link Inverted Pendulum
　※ Arm
　　→ length: 20cm, Weight 60±5g
　※ Pendulum
　　→ length: 16cm, Weight 25±3g
　※ Encoder
　　→500 Pules/Rev. Weight 58±3g

4 . Servo-Motor Module
　‧ Weight: 3±0.1kg
　‧ Includes Servo-Motor and Enconder:
　　※ Enconder(500 Pules/Rev.)
　　※ Servo-Motor（M5068-24V-6K）
　　　→ Hightest efficiency: 5800RPM 1.6°/0.4Kgf-cm
　　　→ Export power: 31.5 Watt
　　　→ Starting Injector : 1.8Kgf-cm
　‧ Flexible Control System: Can also connect with other controllers.