Derive the Euler-Lagrange equations of motion for the three-link PPP robot shown below. Assume the displacements of link 1, 2, 3 are q1, 92, and q3, respectively. The masses are mo, m₁, m₂, and m3 for link 0, 1, 2, 3, respectively. The forces applied to link 1, 2, 3 are f₁, f₂, and f³, respectively. 93 Link 3 Link 1 91 Link 0 LG √2 Link 2
Derive the Euler-Lagrange equations of motion for the three-link PPP robot shown below. Assume the displacements of link 1, 2, 3 are q1, 92, and q3, respectively. The masses are mo, m₁, m₂, and m3 for link 0, 1, 2, 3, respectively. The forces applied to link 1, 2, 3 are f₁, f₂, and f³, respectively. 93 Link 3 Link 1 91 Link 0 LG √2 Link 2
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
Section: Chapter Questions
Problem 1.1MA
Question
![Derive the Euler-Lagrange equations of motion for the three-link PPP robot shown below. Assume the
displacements of link 1, 2, 3 are q1, 92, and q3, respectively. The masses are mo, m₁, m₂, and m3 for
link 0, 1, 2, 3, respectively. The forces applied to link 1, 2, 3 are f₁, f₂, and f³, respectively.
93
Link 3
Link 1
91
Link 0
LG
√2
Link 2](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F6e11f595-a40a-4bf3-b7d2-0a0cab1f1556%2F53d27fd0-0dc5-4f20-ae17-c1bf39837376%2Fsmptdes_processed.jpeg&w=3840&q=75)
Transcribed Image Text:Derive the Euler-Lagrange equations of motion for the three-link PPP robot shown below. Assume the
displacements of link 1, 2, 3 are q1, 92, and q3, respectively. The masses are mo, m₁, m₂, and m3 for
link 0, 1, 2, 3, respectively. The forces applied to link 1, 2, 3 are f₁, f₂, and f³, respectively.
93
Link 3
Link 1
91
Link 0
LG
√2
Link 2
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