旋转摆属于典型的欠驱动系统，通过驱动杆的水平转动可使欠驱动杆由垂直下摆位置转到竖直向上位置。
The rotating pendulum is a typical underactuated system with a rotating shaft of the motor attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum.
通过对追踪装置水平转动速度，俯仰调节角度和太阳光线检测等方面的测试，表明该系统可以实现自动追踪，运动灵活，调节准确。
Based on the tests of angular velocity, the turning Angle and the accuracy of solar orientation, this auto-tracking system was proved effective.
有些运动主要涉及整体的垂直或水平运动，其中转动可以忽略，可以用三维线性运动的简单方程来研究。
Some movements involving primarily vertical or horizontal motions of the body as a whole, in which rotations can be ignored, can be studied using simple equations of linear motion in three dimensions.
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