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3.2 Lagrange-Euler Dynamics 115

Figure 3.2.4: Two-link planar RR arm.

with τ 1, and τ 2 torques supplied by the actuators.

a. Kinetic and Potential Energy
For link 1 the kinetic and potential energies are

(3)
(4)

For link 2 we have

(5)
(6)
(7)
(8)

so that the velocity squared is

(9)

Copyright © 2004 by Marcel Dekker, Inc.