Page 137 -
P. 137
3.2 Lagrange-Euler Dynamics 119
(2)
with J the inertia of the base link and the force vector
(3)
Figure 3.2.5: Three-link cylindrical arm.
Derivation of Manipulator Dynamics
We have shown in several examples how to apply Lagrange’s equation to
compute the dynamical equations of any given robot manipulator. In the
examples the dynamics we found always had the special form
(3.2.16)
Copyright © 2004 by Marcel Dekker, Inc.
