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

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Discussion Overview

The discussion centers on determining the Lagrangian for a 2-link robot arm with 3 degrees of freedom. It involves theoretical aspects of dynamics and control, particularly in the context of robotic systems.

Discussion Character

  • Exploratory, Technical explanation, Homework-related

Main Points Raised

  • One participant seeks to determine the Lagrangian for a specific robotic system, indicating a need for understanding the underlying dynamics.
  • Another participant suggests resources that may assist in calculating kinetic and potential energy as functions of the degrees of freedom.
  • A later reply expresses gratitude for the resources but indicates uncertainty about implementing equations of motion in Matlab/Simulink.

Areas of Agreement / Disagreement

Participants do not appear to have reached a consensus, as the initial inquiry remains unresolved and further questions about implementation are raised.

Contextual Notes

There may be limitations related to the assumptions required for calculating the Lagrangian, as well as the specific definitions of the degrees of freedom and the equations of motion.

Who May Find This Useful

Individuals interested in robotics, dynamics, and control systems, particularly those working on modeling and simulation of robotic arms.

Jide Orisanaiye
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I need to determine the Lagrangian of a 2 link Robot arm with 3 degree of freedom.
 
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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.
 
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:smile:Thanks so much Stephen, the links were very helpful...
 
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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