Robot Arm Design: Lagrangian of 2-Link, 3-DOF

[Jide Orisanaiye]

I need to determine the Lagrangian of a 2 link Robot arm with 3 degree of freedom.

 

[Matternot]

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.

 

[Jide Orisanaiye]

Thanks so much Stephen, the links were very helpful...

 

[Jide Orisanaiye]

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?