Hallando las derivadas parciales

∂k (m1 l21 + I z z + I z z + m2 d 22 ) θ̇1

∂ q̇
=¿
[ 1 2

m2 d 2 ]
∂k 0
∂q
=¿
[ m2 d 2 θ̇21 ]
∂v g ( m1 l 1+ m2 d 2 ) cos θ1
∂q
=¿
[
g m 2 sin θ 1 ]

τ1=(m1l12+Izz1+Izz2+m2d22)θ̈+2 m2 d 2 θ̇1 ḋ2+ g ( m1 l1 +m2 l2 ) cos θ1

τ2=m2 d̈ 2−m2 d 2 θ̇21 +m2 gsⅇn θ1

Podemos ver que:

m 1 l 21 + I z z + I z z + m2 d 2 ) 0
M(q)=
(
[ 1

0
2

m2 ]
2 m2 d 2 θ̇1 ḋ 2
C(q,q̇ )=
[ −m2 d 2 θ̇12 ]
3. SOLUCION:

Parámetros DH:

ϴ d a α
ϴ1 0 0 0
ϴ2 0 L1 π/2
0 0 L2 0

C1 −s 2 0 0
0

0
0
[
T =¿ s1 C 1
1
0
0
0
1
0
0
0
1
]
C2 −s 2 0 L1
2
T =¿ 0
1
s2 C 2
0 0
[ ]
0 −1 0
0 0
0 1

1 0 0 L2
T 32=¿
0
0
0
[ ] 1
0
0
0
1
0
0
0
1
1
P2 = L1 ^
X1 2
P3 = L2 x^ 2

1
Pc1= L1 x^ 1Pc2 = L2 x^ 2C1I1 = 0C2L2 = 0
v̇ 0=g ^z0 (Gravedad está en la dirección −^z 0 )

w 0= ẇ0=0 (Bases estacionaria)

F 3=x 3=0

En el eslabón 1:
1 w 1= R10*0W0 + θ̇11 z^ 1= θ̈11 z^ 1= [ 0 0 θ̇1 ]
1 ẇ 1= R10*0W0 + R10 *0W0*θ̇11 z^ 1 + θ̈11 z^ 1
ẇ 1= θ̈11 z^ 1= [ 0 0 θ̈1 ]T
1

1 v̇1 = R10 (0W0*0P1 + 0W0*(0W0*1P2) + 0 v̇ 0)

cos θ1 sin θ 1 0 0 0
1

[
v̇1 = −sin θ1 cos θ 1 0 0 = 0
0 0 1 g g ][ ] [ ]
1 v̇C = 1ẇ 1*1 pc + 1w 1*(1w 1∗1 p c ) + 1 v̇1
1 1 1

1 v̇C = θ̈1 ^z1 * L1 ^y 1+θ̇1 ^z1 *(θ̇1 ^z1∗L1 ^y 1) + g ^z 1

1

1 v̇C = L1 θ̈ 1 ^y 1+ θ̇1 ^z1 * L1 θ̇ 1 ^y 1 + g ^z1

1