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Obtain the Lagrangian equations of the PR(prismatic+rotarary) manipulator in the figure. write in vector form. (use the kinetic and potential energy,angular and lineer velecoties-h-m1-m2-I1-I2-w for finding lagrange equations)

I want to see how the kinetic and potential energies obtained for each link are found.

(do not copy the answer from another answered question)

Robot dynamic model
in vector formats
y
VDIV
dcz
Pc2
1. М(q)ӑ + c(q, ӑ) + g(g) 3D и
92
Cx (q, à) = q* Cx(q)ġ
k-th component
of vector c
Pci
k-th column
T
ƏM
91
1 (ƏMR
of matrix M (q) C;(q) = ; +a)
symmetric
matrix!
CR(q)
2 aq
2. М(q)й + S(9,q)д + g(q) — и
NOTE:
the model
is in the form
NOT a
factorization of c
symmetric Skj (q, ġ) = > Cxij (q)4i
\by 5 is not unique!
(q, ġ, ä) = u
matrix
in general
as expected

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