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Robotics  Lagrangian Dynamics  Calculation of PE 
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#1
May412, 08:18 AM

P: 77

http://www.flickr.com/photos/66943862@N06/7141839687
The above png is from the Robotics Book by John Craig. Here Dynamic Modelling of a simple 2 link manipulator is being done using Lagrangian Dynamics. In Both Equations 6.82 & 6.83, I don't see where the 2nd term is coming from. i.e. Potential energy is mgh, in case 1, h = l1sin(theta) & case 2, h = d2sin(theta), so the first term in both the eqns are fine  but why is the 2nd term i.e m1l1g & m2d2maxg added? 


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