- #1
Jide Orisanaiye
- 3
- 0
I need to determine the Lagrangian of a 2 link Robot arm with 3 degree of freedom.
Robot Arm Design: Lagrangian of 2-Link, 3-DOF
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SUMMARY
The discussion focuses on determining the Lagrangian of a 2-link robot arm with 3 degrees of freedom (DOF). Key steps include calculating the kinetic and potential energy as functions of the arm's degrees of freedom. Participants recommend consulting the resource from Caltech for foundational understanding. Additionally, there is a need to implement equations of motion for displacement, velocity, and torque using MATLAB/Simulink.
PREREQUISITES- Understanding of Lagrangian mechanics
- Familiarity with kinetic and potential energy calculations
- Proficiency in MATLAB/Simulink for simulation
- Knowledge of robot arm dynamics and degrees of freedom
- Study Lagrangian mechanics in detail, focusing on multi-link systems
- Learn how to calculate kinetic and potential energy for robotic systems
- Explore MATLAB/Simulink for modeling dynamic systems
- Research equations of motion for robotic arms, specifically for 3-DOF configurations
Robotics engineers, mechanical engineers, and students involved in robotic arm design and dynamics will benefit from this discussion.
- #2
Matternot
Gold Member
- 129
- 8
Try looking at this or http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-manipdyn_v1_2.pdf; they may help.
You'll need to calculate the kinetic and potential energy as a function of your degrees of freedom.
You'll need to calculate the kinetic and potential energy as a function of your degrees of freedom.
- #3
Jide Orisanaiye
- 3
- 0
Thanks so much Stephen, the links were very helpful...- #4
Jide Orisanaiye
- 3
- 0
However, because I'm pretty new at this, not sure of how to plug in my equations of motion for displacement, velocity and Torque in Matlab/Simulink. Have any ideas?
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