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The document describes the implementation of a dynamic equation for a three-link planar robot using Python, focusing on the simulation of a triple pendulum. It details the use of Lagrangian mechanics to derive equations of motion and the numerical integration of these equations using the solve_ivp function. The code also includes functions for calculating the mass matrix, Coriolis and centrifugal terms, and gravitational effects, and visualizes the results through plots of joint angles and velocities over t
- Author
- VIKASKUMAR PATNI
- Language
- EN