Confidence and Harmony. 'Composition P-5R-01' is a moving sculpture that consists of a statically balanced/dynamically
force-balanced 5R-fivebar linkage (5R = five revolute joints). Because of its balance, the linkage remains stationary at each
possible position. The linkage can also be seen as a balanced 4R-fourbar linkage which is pivoted
to the base at its center of mass, which is an invariant point at one of its links.