Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)

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This video introduces the Lagrangian approach to finding the dynamic equations of motion of robot and describes the structure of the dynamic equations, including the mass matrix, velocity-product terms (Coriolis and centripetal terms), and potential terms (e.g., gravity).

This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.

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These videos have given me a lot more respect for mechanical engineers as an electrical engineering student. This math is pretty tough!

SpaceStickwithSpaceTick

excellent video. I checked the math and it makes a lot more sense to me than some of the other papers I have read.

Koche

Thank you so much for your Effort!! YOUR VIDEOS helped me a lot

HombreFromNorthAfrica

how did you get L comp sir (referred book still not clear)

hariharanramamurthy

What are the advantages of DH convention over analytical method of frame transformation matrix and transformation? Sir, please solve this question?

kamleshshan

In the torque equation at 5:05 it should be c(theta)*theta dot instead of c(theta, theta dot) right?

sudhanshuvaishampayan

if we have a 3d articulated robot, v=(xdot+ydot+zdot)???

mahmoudabdallah

mass center points m1 & m2 are wrongly picked. they supposed to be in the very middle of the each link if material of the link is homogenous, if not, it is still impossible to pick those points w.r.t. laws of physics.

barssoyer