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116 Robot Dynamics
Therefore, the kinetic energy for link 2 is
(10)
The potential energy for link 2 is
P 2 =m 2 gy 2 =m 2 g[a 1 sin θ 1 +a 2 sin(θ 1 +θ 2 )]. (11)
b. Lagrange’s Equation
The Lagrangian for the entire arm is
(12)
The terms needed for (3.2.14) are
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