Dynamics

Based on chapter 7 of Robotics: Modelling, Planning and Control by Siciliano, Sciavicco, Villani and Oriolo.

• Lagrange formulation
  • Introduction
  • The Lagrange formulation
  • Kinetic energy
  • Potential energy
  • Equations of motion
  • Exercise
  • Appendix
• Properties of the dynamic model
  • The matrix \(\boldsymbol{\dot B} - 2C\) is skew symmetric
  • Linearity with the dynamic parameters
• Dynamic parameters identification
  • The procedure
  • Comments
• Dynamic model of simple manipulator structures
  • The two-link planar arm
  • The two-link Cartesian arm