Quasi-Static Motion of a Two-Link System along a Horizontal Plane

Quasi-static motion of a two-link system along a rough horizontal plane is considered. Dry friction acts between the links of the system and the plane. During the motion, the configuration of the linkage changes, whereas the points of contact of the linkage and the plane remain the same. The control torque applied at the joint of the linkage is chosen so as to provide equilibrium condition for each of the links. It is shown that the quasi-static motion of the two-link system is uncontrollable and the uniqueness of this motion is proved for given initial position of the linkage. The trajectories of the vertices are found, depending on the parameters of the system.