- #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
AI Thread Summary
To determine the Lagrangian of a 2-link robot arm with 3 degrees of freedom, it is essential to calculate the kinetic and potential energy based on the arm's configuration. The provided resource from Caltech is a useful reference for understanding manipulator dynamics. Users express challenges in implementing equations of motion for displacement, velocity, and torque in Matlab/Simulink. Suggestions for overcoming these implementation hurdles are sought. Proper guidance on coding these equations in Matlab/Simulink can facilitate the design process.
- #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?
I need to cut down a 3 year old dead tree from top down so tree causes no damage with small pieces falling. I need a mirror with a focal length of 150 ft. 12" diameter to 36" diameter will work good but I can't think of any easy way to build it. Nothing like this for sale on Ebay.
I have a 30" Fresnel lens that I use to burn stumps it works great.
Tree service wants $2000.
Hi all, i have some questions about the tesla turbine:
is a tesla turbine more efficient than a steam engine or a stirling engine ?
about the discs of the tesla turbine warping because of the high speed rotations; does running the engine
on a lower speed solve that or will the discs warp anyway after time ?
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and: i...
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