2m m, m. d₂ O None of them Or m₂ 2 VZ Im M3 03 di, d₂ and ₂ are the joint variables m₂ = m₁ = m₂ = m₂ = 1 kg The moment of inertia of the last link is 3 kg. m². For the robot above, please write down the correct expression of its Lagrange function L. L = (Ko + K₁+ K2 + K3) - (Uo + U₁+U₂+U3) The mass centers are located on the middle point of each link. TT.

Advanced Engineering Mathematics
10th Edition
ISBN:9780470458365
Author:Erwin Kreyszig
Publisher:Erwin Kreyszig
Chapter2: Second-order Linear Odes
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Question
6
2m
m,
m.
d₂
m₂
I'm
M3
03
* d₁, d₂ and ₂ are the
joint variables
m₂ = m₁ = m₂ = m₂ = 1 kg
The moment of inertia of
the last link is 3 kg. m².
The mass centers are located
on the middle point of each link.
For the robot above, please write down the correct expression of its Lagrange
function L.
L = (Ko + K₁+ K2 + K3) - (Uo + U₁+U₂ + U3)
O None of them
OL= ²0 Ki-² U₂
OL=₁₁K₁ - ₁ U₁
OL= (K₁+ K2 + K3) - (U₁+U₂+U3)
Transcribed Image Text:2m m, m. d₂ m₂ I'm M3 03 * d₁, d₂ and ₂ are the joint variables m₂ = m₁ = m₂ = m₂ = 1 kg The moment of inertia of the last link is 3 kg. m². The mass centers are located on the middle point of each link. For the robot above, please write down the correct expression of its Lagrange function L. L = (Ko + K₁+ K2 + K3) - (Uo + U₁+U₂ + U3) O None of them OL= ²0 Ki-² U₂ OL=₁₁K₁ - ₁ U₁ OL= (K₁+ K2 + K3) - (U₁+U₂+U3)
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