sder2 - ahmad alhayek
الرئيسية صورة وعبرة كلام الناس خواطر sder2

sder2

 

Choosing ongin using the DH convention. Figure 3.25: Two-link planar arm of Problem 3-4. (b) Compute the 3 x 3 inertia matrix D(q) for this manipulator. (c) Show that the Christoffel symbols ciyk are all zero for this robot. Interpret the meaning of this for the dynamic equations of motion. Derive the equations of motion in matrix form: 7-8 Derive the Euler-Lagrange equations for the planar RP robot in Fig- ure 3.25. 7-9 Derive the Euler-Lagrange equations for the planar RPR robot in Fig- ure 3.33. 7-10 Derive the Euler-Lagrange equations of motion for the three-link RRR robot of Figure 3.32. Explore the use of symbolic software, such as Maple or Mathematica, for this problem. See, for example, the Robot-

I need the solution for the question 7-8. thank you in advance.

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