Deriving 3D Newton-Euler Equations for Inverted Telescopic Pendulum Model

[elasolova]

Homework Statement

I have to derive Newton euler equations of an inverted telescopic pendulum with two links. I will use this model to simulate biped walking. The leg link is assumed to be massless and it carries the body link. The model at final stage should be 3d. In 3d case the hip namely the joint between two links will have all 3 rotations. The leg is assumed to be sticked to the ground.

Homework Equations

Newton-euler equations

The Attempt at a Solution

I do not know the procedure to derive the equations. However, I think the 2d case is not that hard, but I do not know what to do in 3d case. I am not asking for a full answer. I only need someone to guide me to the right track. Thanks..

 

[RoshanBBQ]

Are you trying to set up symbolic solutions or to simulate the equations in MATLAB/Simulink/etc.?

 

[elasolova]

I will simulate the solutions in C++.