Upload
iorrus
View
217
Download
0
Embed Size (px)
DESCRIPTION
robotics tutorial
Citation preview
Robotics 2009/10 Exercise
InstitutfrZuverlssigkeitstechnik
Dipl.Ing.M.Gomse
Lagrangian formulation of manipulator kinematics Use the Lagrangian approach to derive the torque equations of the manipulator
shown in Figure 1.
For simplicity, we assume that the mass distribution is extremely simple: All mass
exists as a point mass at the distal end of each link. These masses are and .
Given: ,, , , Hint: sin sin cos cos cos
a) Derive the position of and in Cartesian form
b) Derive the velocity of and in Cartesian form
c) Derive the torque equations of the manipulator with Lagrangian approach.
g
Figure 1
x
y