This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism. better known as a five-bar mechanism. The whole mechanism has four degrees of freedom. but it has only two actuators and so it is an under-actuated system. https://www.diegojavierfares.com/flash-pick-Plancha-de-vapor-vertical-Rowenta-Access-Steam-Force-DR8270D1-90-g-min-200-ml-Negro-y-plateado-super-save/