About this document
Lagrangian Dynamics in Robotics by villian is a document available to read on EtoBox.
The document discusses robot dynamics and control. It provides three examples of deriving dynamic models of robotic systems using the Lagrangian formulation. Specifically: 1) It derives the force-acceleration relationship for a simple one degree of freedom cart-spring system. 2) It presents the dynamic model of a pendulum treated as a one degree of freedom manipulator. 3) Using the Lagrangian method, it derives the equations of motion for a 2 degree of freedom robotic arm.
- Author
- villian
- Language
- EN