- #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
Click For Summary
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.
- #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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