Python Tutorial: Inverse Dynamics (with Lagrangian) of 2-Link RP Robot Arm using SymPy and NumPy

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In this video, I show you how to use Python and SymPy with NumPy to solve the inverse dynamics problem for a two-link RP robot arm using the Lagrangian approach.

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#pythontutorial #pythonprogramming #lagrangian #sympy #numpy #dynamics #scientific
  1. Damian DZ
  2. Python tutorial
  3. programming
  4. coding
  5. inverse dynamics
  6. SymPy
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CORRECTION: It should have been x1 = l1 * cos(th) instead of x1 = l1 * cos(th) / 2 and y1 = l1 * sin(th) instead of y1 = l1 * sin(th) / 2 for the calculations to agree with the drawing, since it shows l1 as the entire distance from the origin to the first center of mass. Alternatively, the drawing could be modified so that l1 spans the entire length of the first link, under the assumption that m1 is located halfway its length. Somehow I missed that. My apologies.

damiandz
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