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    The document presents equations of motion for an n-degree of freedom manipulator. Equation 6.45 gives the final dynamic model, relating the generalized torque applied to each link i to the link's acceleration, the inertia matrix M, centrifugal/Coriolis terms C, and gravitational terms G. The inertia matrix M and centrifugal/Coriolis terms C are defined by Equations 6.46-6.47 respectively using partial derivatives of the Lagrangian. The gravitational terms G are defined in Equation 6.48. Additional relations for the partial derivatives are given in Equations 6.49-6.50.

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    The document presents equations of motion for an n-degree of freedom manipulator. Equation 6.45 gives the final dynamic model, relating the generalized torque applied to each link i to the link's acceleration, the inertia matrix M, centrifugal/Coriolis terms C, and gravitational terms G. The inertia matrix M and centrifugal/Coriolis terms C are defined by Equations 6.46-6.47 respectively using partial derivatives of the Lagrangian. The gravitational terms G are defined in Equation 6.48. Additional relations for the partial derivatives are given in Equations 6.49-6.50.

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    © All Rights Reserved
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    6 views1 page

    Equation

    Uploaded by

    rishi123012035
    The document presents equations of motion for an n-degree of freedom manipulator. Equation 6.45 gives the final dynamic model, relating the generalized torque applied to each link i to the link's acceleration, the inertia matrix M, centrifugal/Coriolis terms C, and gravitational terms G. The inertia matrix M and centrifugal/Coriolis terms C are defined by Equations 6.46-6.47 respectively using partial derivatives of the Lagrangian. The gravitational terms G are defined in Equation 6.48. Additional relations for the partial derivatives are given in Equations 6.49-6.50.

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    © All Rights Reserved
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    6.3.

    5 Equations of Motion
    The Lagrangian. L = K-?, from Eqs. (6.41) and (6.43), is given by

    i=l j=lk= i=
    (6.44)
    According to the Lagrange-Euler dynamic formulation, the generalized
    torque , of the actuator at joint i, to drive linki ofthe manipulator, is given by
    Eq. (6.2)

    T
    dt
    By substitutingL and carrying out the differentiation, the generalized torque
    applied to link i of n-DOF manipulator is obtained. The detailed derivations are
    carried out in Appendix D. The final EOM (dynamic model) is

    Mgä,
    j=l
    +
    ELAa
    j=lk=1
    4,4, +G, for i= 1, 2 , . (6.45)

    where

    M -2T[4,4]
    p=max(i,j)
    (6.46)

    ijk T Tr|
    p max(i,j,k)
    ,4 (6.47)

    G=-2,gdp,"F
    p=i
    (6.48)

    and °T- T forj i


    (6.49)
    forj>i
    for i2k 2j
    °T,-9,7,0H;
    and adi T 7,-07 fori2j2k (6.50)
    0 for i<j or i <k

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